DocumentCode
1844371
Title
The noise amplification index for optimal pose selection in robot calibration
Author
Nahvi, Ali ; Hollerbach, John M.
Author_Institution
Dept. of Mech. Eng., Utah Univ., Salt Lake City, UT, USA
Volume
1
fYear
1996
fDate
22-28 Apr 1996
Firstpage
647
Abstract
This paper presents a new observability index to quantify the selection of best pose set in robot calibration. This noise amplification index is considerably more sensitive to calibration error than previously published observability indices. Support for the proposed index as provided analytically and geometrically, and also through comparison against previous indices by a simulation for a 3-link planar robot and by an experiment for a 3-DOF redundant parallel-drive robot
Keywords
Jacobian matrices; calibration; noise; observability; robot kinematics; singular value decomposition; 3-DOF redundant parallel-drive robot; 3-link planar robot; best pose set; calibration error; noise amplification index; observability index; observability indices; optimal pose selection; robot calibration; Calibration; Computer science; Equations; Integrated circuit noise; Jacobian matrices; Kinematics; Mechanical engineering; Observability; Parallel robots; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.503848
Filename
503848
Link To Document