International Journal of Robotics Research
The calibration index and taxonomy for robot kinematic calibration methods
International Journal of Robotics Research
Swarm intelligence
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Enhanced Stiffness Modeling, Identification and Characterization for Robot Manipulators
IEEE Transactions on Robotics
The particle swarm - explosion, stability, and convergence in amultidimensional complex space
IEEE Transactions on Evolutionary Computation
Ant system: optimization by a colony of cooperating agents
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Improve the robot calibration accuracy using a dynamic online fuzzy error mapping system
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Expert Systems with Applications: An International Journal
Dynamic identification of Staubli RX-60 robot using PSO and LS methods
Expert Systems with Applications: An International Journal
Expert Systems with Applications: An International Journal
Evaluate error sources and uncertainty in large scale measurement systems
Robotics and Computer-Integrated Manufacturing
Online robot calibration based on vision measurement
Robotics and Computer-Integrated Manufacturing
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This paper reports on the prediction of the expected positioning errors of robot manipulators due to the errors in their geometric parameters. A Swarm Intelligence (SI) based algorithm, which is known as Particle Swarm Optimization (PSO), has been used to generate error estimation functions. The experimental system used is a Motoman SK120 manipulator. The error estimation functions are based on the robot position data provided by a high precision laser measurement system. The functions have been verified for three test trajectories, which contain various configurations of the manipulator. The experimental results demonstrate that the positioning errors of robot manipulators can be effectively predicted using some constant coefficient polynomials whose coefficients are determined by employing the PSO algorithm. It must be emphasized that once the estimation functions are obtained, there may be no need of any further experimental data in order to determine the expected positioning errors for a subsequent use in the error correction process.