Optimal measurement configurations for Gough platform calibration
Optimal measurement configurations for Gough platform calibration
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DOI：
10.1109/robot.2002.1013353
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发表时间：
2002-08
期刊：
影响因子：
--
通讯作者：
D. Daney
中科院分区：
文献类型：
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作者：
D. Daney
机器人标定对传感器噪声的鲁棒性对采集测量数据的机械臂姿态敏感。本文提出了一种基于约束优化方法的算法，该算法允许人们选择一组测量配置。其工作原理是在工作空间内迭代选择一个又一个姿态，经过几个步骤，得到一组N个构型，使与参数雅可比矩阵相关的可观测性指标最大化。我们的算法收敛到一组定位于。特定工作空间的边界。最后，通过校准经验的仿真验证表明，通过将与结果相关的噪声除以10到15，所选择的配置显着改善了运动参数识别。
The robustness of robot calibration with respect to sensor noise is sensitive to the manipulator poses used to collect measurement data. The present paper proposes an algorithm based on a constrained optimization method which allows one to choose an set the measurement configurations. It works by selecting iteratively one pose after another inside the workspace, and after a few steps a set of N configurations is obtained which maximizes an index of observability associated to the parameter Jacobian. Our algorithm converges to a set of poses that are localized at the. boundary of the articular workspace. Finally, a validation through simulation of a calibration experience shows that selected configurations improve significatively the kinematic parameters identification by dividing 10 to 15 the noise associated to the results.