DocumentCode :
3524130
Title :
On task-oriented criteria for configurations selection in robot calibration
Author :
Carrillo, Henry ; Birbach, Oliver ; Taubig, Holger ; Bauml, Berthold ; Frese, Udo ; Castellanos, Jose A.
Author_Institution :
Dept. de Iriformatica e Ing. de Sist., Univ. de Zaragoza, Zaragoza, Spain
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
3653
Lastpage :
3659
Abstract :
This paper studies different criteria for selecting configurations for the task of calibrating a robotic system. Given an automatic and self-contained procedure which allows the robot to calibrate itself without the need of external tools, we are interested in how to select the set of configurations that maximize calibration accuracy while minimizing calibration time. We experiment with the active calibration of a multi-sensorial humanoid´s upper body and report that determinant-based criteria should be preferred when a greedy selection is used. In addition to criteria comparison, we further propose a new criterion for configuration selection. Its novelty stems from a direct treatment of the robot´s end-effector tool variance. This is contrary to previous approaches which target the variance indirectly via calibration parameters. Our proposed objective function is derived as a compact formulation from the mean error of the robot´s end-effector tool from which its variance can be computed using traditional criteria known from the theory of optimal experimental design (e.g. A-optimality).
Keywords :
calibration; design of experiments; end effectors; humanoid robots; optimisation; automatic procedure; calibration time minimization; configuration selection; determinant-based criteria; greedy selection; multisensorial humanoid upper body; optimal experimental design theory; robot calibration accuracy; robot end-effector tool variance; robotic system; self-contained procedure; task-oriented criteria; Materials; Optimization; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6631090
Filename :
6631090
Link To Document :
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