论文标题
具有多元化算法的机器人臂校准的合奏
An Advancing Ensemble with Diversified Algorithms for Robot Arm Calibration
论文作者
论文摘要
最近，工业机器人在智能制造中起着重要作用。因此，确保机器人具有高定位精度是一个紧迫的问题。为了解决这个热门问题，提出了一种基于具有各种算法的强大集合的新型校准方法。本文有两个想法：a）开发八种校准方法来识别运动学参数错误； 2）建立有效的合奏来搜索校准的运动学参数。足够的实验结果表明，该合奏可以实现：1）机器人的校准精度更高； 2）模型多样性； 3）强大的概括能力。
Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an powerful ensemble with various algorithms is proposed. This paper has two ideas: a) developing eight calibration methods to identify the kinematic parameter errors; 2) establishing an effective ensemble to search calibrated kinematic parameters. Enough experimental results show that this ensemble can achieve: 1) higher calibration accuracy for the robot; 2) model diversity; 3) strong generalization ability.
