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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 11
3378-3384

Joint system calibration of vision-based manipulators guided by layered optimization mechanisms

Mao Hui1
Chen Lijia2
Fan Xianbojun2
Wang Min2
Wang Chenlu2
Dong Menghao2
1. Kaifeng Branch of China Unicom, Kaifeng Henan 475000, China
2. School of Physics & Electronics, Henan University, Kaifeng Henan 475000, China
DOI: 10.19734/j.issn.1001-3695.2022.03.0187

Abstract

In response to the low accuracy, poor deployment and high calibration costs of vision-based manipulator systems, this paper proposed the adaptive multiple-elites-guided composite differential evolution algorithm with a layered optimization mechanism(AMECoDEs-LO) and a joint system calibration strategy. Firstly, it integrated the kinematic model of the robotic arms and the hand-eye calibration external model systematically. Then, based on AMECoDEs algorithm, it performed principal component analysis on the phased data in the population. It divided parameter optimization prioritization according to the degree of dominance of each dimensional vector in the current generation, and achieved implicit guidance on the accuracy and speed of population convergence with the idea of parametric dimensionality reduction optimization. It was validated against existing first-class evolutionary algorithms in simulated and real environments. Finally, it verified the system's robustness by adding Gaussian white noise with different intensities to address the sensitivity of the vision sensor to environmental noise. Experimental results show that the algorithm has the advantages of high calibration accuracy, fast convergence, good robustness and no additional calibration instruments are required for the calibration of the vision-based manipulator system, which can be used for the rapid deployment of vision-based manipulators.

Foundation Support

国家自然科学基金资助项目(61901158)
河南省科技厅重点研发与推广专项(202102210121)
河南省科技发展计划项目(科技攻关)(212102210500)
开封市重大专项(20ZD014)
开封市科技项目(2001016)
开封平煤新型炭材料科技有限公司(2021410202000003)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.03.0187
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 11
Section: Algorithm Research & Explore
Pages: 3378-3384
Serial Number: 1001-3695(2022)11-028-3378-07

Publish History

[2022-07-05] Accepted Paper
[2022-11-05] Printed Article

Cite This Article

毛卉, 陈立家, 范贤博俊, 等. 分层优化机制引导的视觉机械臂联合模型优化 [J]. 计算机应用研究, 2022, 39 (11): 3378-3384. (Mao Hui, Chen Lijia, Fan Xianbojun, et al. Joint system calibration of vision-based manipulators guided by layered optimization mechanisms [J]. Application Research of Computers, 2022, 39 (11): 3378-3384. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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