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遺伝アルゴリズムによるロボットマニピュレータのモデル化誤差推定とその設定パラメータに関する一考察
https://ous.repo.nii.ac.jp/records/1157
https://ous.repo.nii.ac.jp/records/115709e210de-c071-4020-8cf6-a2441d452a2f
名前 / ファイル | ライセンス | アクション |
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KJ00000063666.pdf (488.8 kB)
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Item type | 紀要論文(ELS) / Departmental Bulletin Paper(1) | |||||
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公開日 | 1996-03-31 | |||||
タイトル | ||||||
言語 | ja | |||||
タイトル | 遺伝アルゴリズムによるロボットマニピュレータのモデル化誤差推定とその設定パラメータに関する一考察 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Estimation of the Modeling Errors for Robot Manipulators Using a Genetic Algorithm and a Setting of the Algorithm Parameters | |||||
タイトル | ||||||
言語 | ja-Kana | |||||
タイトル | イデン アルゴリズム ニヨル ロボット マニピュレータ ノ モデルカ ゴサ スイテイ ト ソノ セッテイ パラメータ ニ カンスル イチコウサツ | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | departmental bulletin paper | |||||
ページ属性 | ||||||
内容記述タイプ | Other | |||||
内容記述 | P(論文) | |||||
著者名 |
清野, 滋雄
× 清野, 滋雄× 藤本, 真作× 逢坂, 一正 |
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著者所属(日) | ||||||
ja | ||||||
岡山理科大学大学院工学研究科 | ||||||
著者所属(日) | ||||||
ja | ||||||
岡山理科大学工学部機械工学科 | ||||||
著者所属(日) | ||||||
ja | ||||||
岡山理科大学工学部機械工学科 | ||||||
著者所属(英) | ||||||
en | ||||||
Graduate Shool of Engineering, Okayama University of Science | ||||||
著者所属(英) | ||||||
en | ||||||
Department of Mechanical Engineering, Faculty of Engineering, Okayama University of Science | ||||||
著者所属(英) | ||||||
en | ||||||
Department of Mechanical Engineering, Faculty of Engineering, Okayama University of Science | ||||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | In this paper, we propose a tuning method of parameters for genetic algorithm in an estimation algorithm of modeling errors. First, we explain compensating nonlinear terms that can be determined by a nominal model of a multi-degree-of-freedom manipulator. Then we construct a linearized model. The modeling errors are defined by difference of input torques between a real manipulator and the linearized model. Second, we explain an estimation algorithm of the modeling errors. It consists of the following two processes : one is disturbance obserber process (process A) using an inverse model of a nominal model and the other is genetic algorithm process (process B) using the results obtained by process A. Third, A problem of process B is a tuning method of parameters that are weight matrix of fitness function, crossover and mutation probabilities of a genetic algorithm. We propose a tuning method of these parameters using numerical simulations. Finally, the effectiveness of the proposed the tuning method of parameters is confirmed by numerical simulations of the 2-degree-of-freedom manipulator. | |||||
言語 | en | |||||
雑誌書誌ID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00033244 | |||||
書誌情報 |
ja : 岡山理科大学紀要. A, 自然科学 en : Bulletin of Okayama University of Science. A, Natural Sciences 巻 31, p. 249-259, 発行日 1996-03-31 |