M. Barati, A. R. Khoogar, M. Nasirian,
Volume 7, Issue 4 (12-2011)
Abstract
Abstract: Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy to use algorithm is introduced for correction and calibration of robot kinematics parameters. Actually at several end-effecter positions, the joint variables are measured simultaneously. This information is then used in two different algorithms least square (LS) and Genetic algorithm (GA) for automatic calibration and correction of the kinematics parameters. This process was also tested experimentally via a three degree of freedom manipulator which is actually used as a coordinate measuring machine (CMM). The experimental Results prove that the Genetic algorithms are better for both parameter identification and calibration of link parameters.
Huang Yan, Hadi Nabipour Afrouzi, Chin-Leong Wooi , Hieng Tiong Su, Ismat Hijazin,
Volume 21, Issue 2 (6-2025)
Abstract
In order to solve the difficulty of digital signal calibration of electric power equipment, such as low precision, inability to test the full range, and complicated configuration, and further promote the development of power system, a proposed time measurement calibration device is designed, and its performance is verified in this paper. This paper points out the main drawbacks of the existing calibration system, carries on the design innovation of the key technologies based on FPGA (Field Programmable Gate Array), puts forward the optimization method of the software and hardware, and verifies the accuracy of the input and output signal by experiments. The accuracy of input and output SV, GOOSE, and contact signal of the proposed calibration device in this paper can be better than 10μs, which is a meaningful improvement in accuracy and efficiency for time measurement calibration.
