A global formulation of robot manipulator kinematic calibration based on statistical considerations

Author

Jackson, E. ; Lin, Z.C. ; Eddy, D.

Author_Institution

Int. Submarine Eng. Ltd., Port Coquitlam, BC, Canada

Volume

4

fYear

1995

fDate

22-25 Oct 1995

Firstpage

3328

Abstract

In this paper, a novel approach to identify manipulator kinematic parameters is proposed. The main contribution in this work has two folds: (1) a global optimization scheme is developed which guarantees that an unique solution is always able to be found. (2) a statistical objective function is established which takes into account the effects of the measurement errors and the noise presented during experimental measurement. The algorithm has been tested using experimental data obtained from the STEAR/ISE Testbed Manipulator (STM) and it is shown that better results were found

Keywords

calibration; manipulator kinematics; statistical analysis; STEAR/ISE Testbed Manipulator; STM; global formulation; global optimization scheme; manipulator kinematic parameter identification; measurement errors; noise; robot manipulator kinematic calibration; statistical considerations; statistical objective function; Automatic control; Calibration; Kinematics; Manipulators; Measurement errors; Motion control; Noise measurement; Robotics and automation; Robots; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.538299

Filename

538299