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This paper describes a novel offline approach to estimate the parameters of a nonlinear system using the optimal control theory. In the conventional methods, only the output is considered in the identification process and the problem is stated as a nonlinear optimization problem. Nevertheless, the proposed method here is based on the least square error of both output and input. To do this, the problem...
This paper introduces the problem of computing the shortest Euclidean path of a plural number of sequenced spherical balls in 3D. Based on the author's previous works and the technique of pair-wisely local optimization, a heuristic algorithm was proposed to solve the problem. Empirical results are competing with random selection and the nearest neighbor search algorithm. The experiments have shown...
With the purpose of improving the accuracy of surgical robot to meet the need of its industrialization development, this paper suggested an approach which can simply and quickly compensate for robot kinematics parameter error, established an error equation of robot kinematics parameter based on optimization theory. It realized the optimization design for robot kinematics parameter, which has effectively...
A novel procedure is proposed to calibrate a structured light 3D vision measuring system. Firstly, robust subpixel and substripe calibration methods are proposed for the camera and the projector. Secondly, a novel approach is introduced to solve the nature restriction of the structure light system: the calibration of the camera and the project is restricted with the locations of them. Thirdly, the...
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