The calibration index and taxonomy for robot kinematic calibration methods
The calibration index and taxonomy for robot kinematic calibration methods
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DOI：
10.1177/027836499601500604
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发表时间：
1996-12-01
影响因子：
9.2
通讯作者：
Wampler, CW
中科院分区：
文献类型：
--
作者：
Hollerbach, JM;Wampler, CW
通过将终端测量系统视为形成关节并闭合运动学回路，统一了运动学标定的主要方法。在运动度方程的基础上引入了一种标定指数，该指数考虑了有传感器和无传感器关节以及单回路和多回路，并表示了每个姿态下测量自由度上的剩余量。过去使用开环校准、闭环校准和螺杆轴测量的工作根据该校准指数进行分类。讨论了任务变量定标、参数变量定标、等级确定、位姿选择和输入噪声处理等数值问题。
The major approaches toward kinematic calibration are unified by considering an end-point measurement system as forming a joint and closing the kinematic loop. A calibration index is introduced, based on the mobility equation, that considers sensed and unsensed joints and single and multiple loops and expresses the surplus of measurements over degrees of freedom at each pose. Past work using open-loop calibration, closed-loop calibration, and screw axis measurement is classified according to this calibration index. Numerical issues are surveyed, including task variable scaling, parameter variable scaling, rank determination, pose selection, and input noise handling.