A Novel Optimal Design of Measurement Configurations in Robot Calibration
Joint Authors
Sun, Hanxu
Jia, Qingxuan
Chen, Gang
Wang, Shiwei
Wang, Lei
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-05-20
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
Robot calibration highly depends on redundant measurement configurations to collect enough sample data for higher accuracy, but excessive measurements seem to be uneconomical and time-consuming.
Thus lots of observability indexes to evaluate the goodness of the measurement configurations have been proposed.
However, in some circumstances, it is of critical importance to obtain accurate kinematic parameters and estimate the end-effector pose precisely at the same time.
Obviously one single observability index can hardly meet this need yet.
Accordingly, after analyzing the essential constrains of robot calibration and the influence of measurement configurations on the observability indexes, an optimization model with two observability indexes to be taken into consideration is proposed in this paper, and then the existing DETMAX algorithm is modified to seek optimal design of measurement configurations, by adopting a set-constructing method and a set-shrinking method.
Much better results have been obtained by simulation study, which implies that the proposed model and the modified DETMAX algorithm perform well in both kinematic parameter identification and pose estimation of the end-effector of the robot.
American Psychological Association (APA)
Jia, Qingxuan& Wang, Shiwei& Chen, Gang& Wang, Lei& Sun, Hanxu. 2018. A Novel Optimal Design of Measurement Configurations in Robot Calibration. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-17.
https://search.emarefa.net/detail/BIM-1207596
Modern Language Association (MLA)
Jia, Qingxuan…[et al.]. A Novel Optimal Design of Measurement Configurations in Robot Calibration. Mathematical Problems in Engineering No. 2018 (2018), pp.1-17.
https://search.emarefa.net/detail/BIM-1207596
American Medical Association (AMA)
Jia, Qingxuan& Wang, Shiwei& Chen, Gang& Wang, Lei& Sun, Hanxu. A Novel Optimal Design of Measurement Configurations in Robot Calibration. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-17.
https://search.emarefa.net/detail/BIM-1207596
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1207596