Calibration of visual model for space manipulator with a hybrid LM–GA algorithm

Jiang, Wensong; Wang, Zhongyu

doi:10.1016/j.ymssp.2015.05.033

Cited by 26 publications

(16 citation statements)

References 28 publications

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“…The setting of parameters were: initial population size 60, and the number of iterations used were 100, 1000 and 5000; the crossover rate was 0.7; the mutation rate 0.2; the range of weighted adjustment was from 0.01 to the end of each iteration by increasing the value by 0.005 to 0.99 to the end. Each of the optimal parameter values of the weighted output were substituted into formula (17) and (18), to obtain the Pareto-optimal solution, as shown in Figure 5, Figure 6, and Figure 7. Figure 5 shows that the pattern of GA in the Pareto optimal solutions after 100 iterations is very messy while the HTGA pattern is getting stable.…”

Section: Multi-objective Optimizationmentioning

confidence: 99%

“…The optimization issue is treated under nonlinear constraint and PSO-GA gave better results that either method alone. The position of a space manipulator was investigated by Jiang and Wang [18] who used a hybrid LM-GA algorithm, a combination of the Levenberg-Marqurdt algorithm with the Genetic algorithm, to find precise requirements for camera calibration. Their results showed that the hybrid LM-GA gave more precise non-linear camera error reduction.…”

Section: Introductionmentioning

confidence: 99%

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The Optimization of Lathe Cutting Parameters Using a Hybrid Taguchi-Genetic Algorithm

Chu

Xie

et al. 2020

IEEE Access

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In this paper, the multi-objective Hybrid Taguchi-genetic Algorithm is used to search for the best processing parameters with specified processing accuracy. The experimental cutting parameters used for the L9 orthogonal table process are cutting depth, cutting velocity and feed rate. The surface roughness of the machined workpiece surface was measured according to the standard of centerline average roughness. The Material Removal Rate (MRR) will be calculated by measuring the diameter of the processed workpiece from the formula to give the MRR. A linear regression model is constructed from the processed quality and the processing parameters of the orthogonal table and the reliability of the model is confirmed by analysis of variance (ANOVA). A Hybrid Taguchi Genetic Algorithm (HTGA) was used to calculate the optimal cutting parameters for multi-objective processing. The results of the experiments indicate that HTGA gave better convergence and robustness than the conventional Genetic Algorithm (GA) using the same number of iterations. This process produces multiple combinations of optimal cutting parameters for material removal rate and surface roughness. As the enhancement of material removal rate improved efficiency on the production line, the optimal cutting parameters were based on the tolerance range of Ra 1.6μm ~ 3.2μm according to the international standard of surface roughness. After actual processing with the selected optimum cutting parameters, the quality of processing is even better than the experimental design of the L9 Orthogonal table.

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Section: Multi-objective Optimizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

The Optimization of Lathe Cutting Parameters Using a Hybrid Taguchi-Genetic Algorithm

Chu

Xie

et al. 2020

IEEE Access

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“…Manually controlled robots equipped with a vision system are mainly used in the environments where it is hard, dangerous or even impossible for a human being to perform necessary actions. The area of application includes medical procedures [14], underwater operations [15], space technologies [16], rescue operations [17] and various industrial applications such as robots on oil platforms [18].…”

Section: Types Of Robotsmentioning

confidence: 99%

“…Palli et al used a robot with an eye-in-hand vision system for underwater operations [29]. Jiang and Wang described a space station robot equipped with two monocular cameras and two stereocameras fixed to a robotic manipulator [16]. One of the stereo cameras was mounted near the gripper and headed in its direction.…”

Section: Locations Of a Vision System In A Robotmentioning

confidence: 99%

3D Vision System for a Robotic Arm Based on Equal Baseline Camera Array

Kaczmarek

2019

J Intell Robot Syst

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This paper presents a lightweight 3D vision system called Equal Baseline Camera Array (EBCA). EBCA can work in different light conditions and it can be applied for measuring large range of distances. The system is a useful alternative to other known distance measuring devices such as structured-light 3D scanners, time-of-flight cameras, Light Detection and Ranging (LIDAR) devices and structure from motion techniques. EBCA can be mounted on a robotic arm without putting significant load on its construction. EBCA consists of a central camera and a ring of side cameras. The system uses stereo matching algorithms to acquire disparity maps and depth maps similarly as in case of using stereo cameras. This paper introduces methods of adapting stereo matching algorithms designed for stereo cameras to EBCA. The paper also presents the analysis of local, semi-global and global stereo matching algorithms in the context of the EBCA usage. Experiments show that, on average, results obtained from EBCA contain 37.49% less errors than the results acquired from a single stereo camera used in the same conditions.

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“…Considering the objective facts of the starting and ending time of the manipulator, they are set as formula (6)…”

Section: Optimal Trajectorymentioning

confidence: 99%

Optimal control research on a manipulator’s combined feedback device by the variational method genetic algorithm radial basis function method

Wang

Zhaoyang

2019

International Journal of Advanced Robotic Systems

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This article aims to improve the accuracy of each joint in a manipulator and to ensure the high-speed and real-time requirements. A method called the variational method genetic algorithm radial basis function, which is based on a combination feedback controller, is proposed to solve the optimal control problem. It is proposed a combined feedback with a linear part and a nonlinear part. We reconstruct the manipulator's kinematics and dynamics models with a feedback control. In this model, the optimal trajectory, which was solved by the variation method, is regarded as the desired output. The other one is also established an improved genetic algorithm radial basis function neural network model. The optimal trajectory is rapidly solved by using the desired output and the improved genetic algorithm radial basis function neural network. This method can greatly improve the speed of the calculation and guarantee real-time performance while simultaneously ensuring accuracy.

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Calibration of visual model for space manipulator with a hybrid LM–GA algorithm

Cited by 26 publications

References 28 publications

The Optimization of Lathe Cutting Parameters Using a Hybrid Taguchi-Genetic Algorithm

The Optimization of Lathe Cutting Parameters Using a Hybrid Taguchi-Genetic Algorithm

3D Vision System for a Robotic Arm Based on Equal Baseline Camera Array

Optimal control research on a manipulator’s combined feedback device by the variational method genetic algorithm radial basis function method

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