Title :
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
fDate :
May 30 2007-June 1 2007
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;
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
DOI :
10.1109/ICCA.2007.4376798
