ROBOT SENSOR CALIBRATION VIA NEURAL NETWORK AND PARTICLE SWARM OPTIMIZATION ENHANCED WITH CROSSOVER AND MUTATION

作者：Ge Dong Yuan^*; Yao Xi Fan; Yao Qing He; Jin Hong

来源：Tehnicki Vjesnik, 2014, 21(5): 1025-1033.

• crossover and mutation particle swarm optimization
• lateral direction
• longitudinal direction
• neural network with rotational matrix
• robot sensor calibration

In order to determine the position and orientation of an object in the wrist frame for robot, transform relation of hand-eye system should be estimated, which is described as rotational matrix and translational vector. A new approach integrating neural network and particle swarm optimization algorithm with crossover and mutation operation for robot sense calibration is proposed. First the neural network with rotational weight matrix is structured, where the weights are the elements of rotational part of homogeneous transform of the hand-eye system. Then the particle swarm optimization algorithm is integrated into the solving program, where the inertia weight factor and mutation probability are tuned self-adaptively according to the motion trajectory of particles in longitudinal direction and lateral direction. When the termination criterion is satisfied, the rotational matrix is obtained from the neural network's stable weights. Then the translational vector is solved, so the position and orientation of camera frame with respect to wrist frame is achieved. The proposed approach provides a new scheme for robot sense calibration with self-adaptive technique, which guarantees the orthogonality of solved rotational components of the homogeneous transform.

• 单位
  华南理工大学; 邵阳学院