OPTIMAL PLANNING OF ROBOT CALIBRATION EXPERIMENTS BY GENETIC ALGORITHMS

In this article, techniques developed in the science of genetic comput ing are applied to solve the problem of optimally selecting robot meas urement configurations, which is an important element in successfully completing a robot calibration experiment. Genetic algorithms are cust omized for a type of robot measurement configuration selection problem in which the robot workspace constraints are defined in terms of robo t joint limits. Simulation studies are conducted to examine the effect iveness of the genetic algorithms for the application. (C) 1997 John W iley & Sons, Inc.