Observability index of identified parameter for kinematic calibration of parallel mechanism

Author

Peng, Chang ; Chengrong, Li ; Jun, Wu ; Tiemin, Li

Author_Institution

Hi-tech Innovation Center, Inst. of Autom. Chinese Acad. of Sci., Beijing, China

fYear

2010

fDate

26-28 June 2010

Firstpage

3097

Lastpage

3101

Abstract

This paper presents a new observability index of identified parameter to quantify the selection of best configuration set in kinematic calibration of parallel mechanisms. This proposed observability index has the following advantages: (1) it is a detailed index for each identified parameters, that is, one index corresponds to one identified parameter; (2) it has a real significance: the variations of estimated value of the identified parameter; (3) it includes the information of both identification Jacobian and measurement noise. Simulation results of a three degrees-of-freedom (DOF) parallel mechanism are given to illustrate the validity and effectiveness of the proposed index.

Keywords

Jacobian matrices; calibration; kinematics; manipulator kinematics; noise measurement; observability; parameter estimation; degrees-of-freedom; identification Jacobian; kinematic calibration; measurement noise; observability index; parallel mechanism; Automation; Calibration; Instruments; Jacobian matrices; Kinematics; Length measurement; Noise measurement; Observability; Parameter estimation; Technological innovation; kinematic calibration; observability index; parallel mechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechanic Automation and Control Engineering (MACE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-7737-1

Type

conf

DOI

10.1109/MACE.2010.5535471

Filename

5535471