Identification of Robot Kinematic Parameters Using Evolutionary Algorithms

摘要

ABSTRACTThis article proposes an alternative heuristic solution based on Genetic Algorithms (GAs) to the manipulator kinematic parameters identification problem. GAs, which refer to a family of algorithms that rely on analogies to natural evolution, have been applied to a wide range of optimization problems with extremely encouraging results. GAs outperform classical optimization techniques since they do not suffer from the disadvantages that are inherent to these methods. The formulation and the application of Genetic Algorithms for the solution of the above problem are discussed and the concept is verified by simulations in which the kinematic parameters of serial and parallel manipulators are identified. The results obtained demonstrate the simplicity and efficiency of this approach.