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 论文编号：
lw200708061140494387 |
| 论文属性：
essay |
| 论文语言：English |
| 论文国家：China |
| 登出日期： 2007-08-06 |
| 字数： 15077 |
| 源程序：
无 |
| 价格：
免费论文 |
| 注明： |
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| 论文大纲，目录 |
| 关键词搜索：Relialble Approach RobotUncertain Geometric Parameters |
ithm is used to locate the global optima of optimization problem (8) and (9). It can be briefly described as: (1) The fitness function of individuals is defined by and for minimum and maximum problems respectively. and respectively are the maximum and the minimum of in he generations up to now. The Goldberg’s linear scaling formulation ( ) is used also for fitness scaling [9]. (2) The proportional selection model was used. (3) The arithmetic crossover operator [10] was used. (4) Both of the non-uniform mutation operator [10] and the boundary mutation operator [10] were used in this study. (5) The elitist strategy was used to add the best individual in the previous population to the next generation, in place of its worst individual. (6) A maximum number of generations is specified for stopping the evaluation.
(3) Mathematic examples to examine the presented approach
Example 1. Consider the polynomial function in the interval =[-5,5].
Fig. 2 the graph of f(x)
The figure of was showed in Fig.2. It is to see from Fig.2 that is not monotonic in [-5, 5]. The global minimum and the global maximum value of in are and respectively. Whence . The accurate result could be easily obtained by using the present method.
However, the solution was obtained by directly using the interval arithmetic operations. A better result, , was obtained by using the reformed form .
Numerical examples
The nominal parameters英语论文网 【http://www.51lunwen.org】 for MOTOMAN SV3 industrial robot were shown in Table 1.
Table1 Design parameters of MOTOMAN SV3 robot
Link coordinate system
a /mm
α
/℃
d /mm
θi
/ °
1
150
-90
0
-170~ 170
2
260
0
0
-45~ 150
3
60
-90
0
-70~ 190
4
0
90
260
-180~ 180
5
0
-90
0
-135~ 135
6
0
0
90
-350~ 350
Based on the nominal (design) kinematic parameters those were shown in Table 1, the end-effector working envelope can be calculated as follows by the presented method in this paper.
Due to the tolerance and manufacturing error, 0.1% of the design value is taken for every kinematic parameter as the parameter deviation from the nominal one, that is, the value is fall in the interval [1-0.05%,1+0.05%] after normalization. The actual working envelop for the robot end-effector could be obtained as following shows by using the presented method.
Conclusion and remarks
By representing all uncertain geometric parameters, a new approach to determine the static pose (position and orientation) of the robot end effector in space was proposed through evaluating interval functions. A reliable computation strategy to is proposed also to overcome overestimation, the major drawback in conventional interval computation.
Parameters with interval uncertainties instead of fixed values are used to compute the forward kinematic. In this way, the actual robot en
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