论文信息 - Robot calibration with planar constraints

Robot calibration with planar constraints

Investigates robot calibration with planar constraints, and in particular the conditions for the parameters of the robot kinematic model to be observable. Mainly multiple-plane constraints for robot calibration are considered. It is first shown that a single-plane constraint is normally not sufficient to calibrate a robot. It is also proven that by using a three-plane constraint, the constrained system is equivalent to an unconstrained point-measurement system under certain conditions. The significance of this observation is that one can use the three-plane constraint setup to successfully calibrate a robot. Simulations have been conducted to verify the theory presented in the paper.

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