论文标题
一种新型的二次插值甲虫天线搜索操纵器校准
A Novel Quadratic Interpolated Beetle Antennae Search for Manipulator Calibration
论文作者
论文摘要
在过去的几十年中，工业操纵器在飞机制造和汽车制造等各个领域都起着至关重要的作用。但是，没有校准的工业操纵器的绝对定位准确性较低，这广泛限制了其在高精度智能制造中的应用。最新的操纵器校准方法是为了解决此问题的开发，而它们经常遇到长尾收敛性和低校准精度。为了解决这个棘手的问题，这项工作提出了一种新型的操纵器校准方法，该方法融合了带有二次插值甲壳虫天线搜索算法的扩展卡尔曼滤波器。本文有三个折叠的想法：a）提出一种新的二次插值甲虫天线搜索算法，以处理甲虫天线搜索算法中局部最佳和低收敛速率的问题； b）采用扩展的Kalman滤波器算法来抑制非高斯噪音，c）开发一种新的操纵器校准方法，该方法融合了带有二次插值甲壳虫天线搜索算法的扩展卡尔曼滤波器以校准操纵器。对ABB IRB120工业操纵器的广泛实验结果表明，所提出的方法比几种最新的校准方法获得了更高的校准精度。
Over the past decades, industrial manipulators play a vital role in in various fields, like aircraft manufacturing and automobile manufacturing. However, an industrial manipulator without calibration suffers from its low absolute positioning accuracy, which extensively restricts its application in high-precision intelligent manufacture. Recent manipulator calibration methods are developed to address this issue, while they frequently encounter long-tail convergence and low calibration accuracy. To address this thorny issue, this work proposes a novel manipulator calibration method incorporating an extended Kalman filter with a Quadratic Interpolated Beetle Antennae Search algorithm. This paper has three-fold ideas: a) proposing a new Quadratic Interpolated Beetle Antennae Search algorithm to deal with the issue of local optimum and low convergence rate in a Beetle Antennae Search algorithm; b) adopting an extended Kalman filter algorithm to suppress non-Gaussian noises and c) developing a new manipulator calibration method incorporating an extended Kalman filter with a Quadratic Interpolated Beetle Antennae Search algorithm to calibrating a manipulator. Extensively experimental results on an ABB IRB120 industrial manipulator demonstrate that the proposed method achieves much higher calibration accuracy than several state-of-the-art calibration methods.
