Developed in this paper is a hybrid method for calibration of modular reconfigurable robots (MRRs). The underlying problem under study is unique to MRRs, that is, how to calibrate a set of MRR’s geometric parameters that are applicable to all feasible configurations. For this reason, a hybrid search method is developed to ensure a global search over the MRRs’ workspace for each feasible configuration. By combining a genetic algorithm method with a Monte Carlo method, this method includes three levels of search, namely, pose, workspace, and configuration-space. The final set of global solutions is generated progressively from the results of these three levels of search. The effectiveness of this method is demonstrated through a case study.
Calibration of Modular Reconfigurable Robots Based on a Hybrid Search Method
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Lin, Y., Xi, F., Mohamed, R. P., and Tu, X. (October 15, 2010). "Calibration of Modular Reconfigurable Robots Based on a Hybrid Search Method." ASME. J. Manuf. Sci. Eng. December 2010; 132(6): 061002. https://doi.org/10.1115/1.4002586
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