Optimal Selection of Measurement Configurations for Robot Calibration with Solis&Wets Algorithm

Author

Zhao, Hai-Xia ; Wang, Shou-cheng

Author_Institution

Qingdao Univ. of Sci. & Technol., Qingdao

fYear

2007

fDate

May 30 2007-June 1 2007

Firstpage

2429

Lastpage

2432

Abstract

The selection of measurement configurations in robot calibration is investigated. Condition number of the robot error propagation matrix was achieved through singular value decomposition, using the condition number as the optimization objective function, a set of robot measurement configurations were selected with Solis&Wets algorithm, so that the effect of the measurement and modeling errors in parameter estimation can be minimized. Experiment results show that its calibration effect is superior to those of the random selection calibration configurations.

Keywords

calibration; error analysis; measurement; parameter estimation; robot kinematics; singular value decomposition; Solis&Wets algorithm; optimal measurement configuration selection; parameter estimation; robot calibration; robot error propagation matrix; singular value decomposition; Calibration; Educational institutions; Matrix decomposition; Measurement errors; Noise measurement; Orbital robotics; Parameter estimation; Position measurement; Robot sensing systems; Robotics and automation; Robot; Solis&Wets algorithm; calibration; optimal Measurement configuration;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2007. ICCA 2007. IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

978-1-4244-0818-4

Electronic_ISBN

978-1-4244-0818-4

Type

conf

DOI

10.1109/ICCA.2007.4376798

Filename

4376798