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.
Z. Gallehdari, M. Dehghani, S. K. Nikravesh,
Volume 10, Issue 2 (6-2014)
Abstract
The purpose of this paper is to present a new approach based on the Least Squares Error method for estimating the unknown parameters of the nonlinear 3rd order synchronous generator model. The proposed method uses the mathematical relationships between the machine parameters and on-line input/output measurements to estimate the parameters of the nonlinear state space model. The field voltage is considered as the input and the rotor angle and the active power are considered as the generator outputs. In fact, the third order nonlinear state space model is converted to only two linear regression equations. Then, easy-implemented regression equations are used to estimate the unknown parameters of the nonlinear model.
The suggested approach is evaluated for a sample synchronous machine model. Estimated parameters are tested for different inputs at different operating conditions. The effect of noise is also considered in this study. Simulation results show that the proposed approach provides good accuracy for parameter estimation.
