Author Type

Graduate Student

Date of Award

1995

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Wu, Jie

Abstract

In this thesis work, techniques developed in the science of genetic computing is applied to solve the problem of planning a robot calibration experiment. Robot calibration is a process by the robot accuracy is enhanced through modification of its control software. The selection of robot measurement configurations is an important element in successfully completing a robot calibration experiment. A classical genetic algorithm is first customized for a type of robot measurement configuration selection problem in which the robot workspace constraints are defined in terms of robot joint limits. The genetic parameters are tuned in a systematic way to greatly enhance the performance of the algorithm. A recruit-oriented genetic algorithm is then proposed, together with new genetic operators. Examples are also given to illustrate the concepts of this new genetic algorithm. This new algorithm is aimed at solving another type of configuration selection problem, in which not all points in the robot workspace are measurable by an external measuring device. Extensive simulation studies are conducted for both classical and recruit-oriented genetic algorithms, to examine the effectiveness of these algorithms.

Extent

150 p.

Comments

College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (M.S.)--Florida Atlantic University, 1995.|College of Engineering and Computer Science

Identifier

FADT15186

Format

pdf

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