Optimal Selection of Measurement Configurations for Robot Calibration with Solis&Wets Algorithm

The selection of measurement configurations in robot calibration is investigated. Condition number of the robot error propagation matrix was achieved through singular value decomposition, using the condition number as the optimization objective function, a set of robot measurement configurations were selected with Solis&Wets algorithm, so that the effect of the measurement and modeling errors in parameter estimation can be minimized. Experiment results show that its calibration effect is superior to those of the random selection calibration configurations.

[1]  A. Laub,et al.  The singular value decomposition: Its computation and some applications , 1980 .

[2]  Morris Driels,et al.  Significance of observation strategy on the design of robot calibration experiments , 1990, J. Field Robotics.

[3]  Jie Wu,et al.  Optimal planning of robot calibration experiments by genetic algorithms , 1997 .

[4]  David Daney.  Optimal measurement configurations for Gough platform calibration , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[5]  Roger J.-B. Wets,et al.  Minimization by Random Search Techniques , 1981, Math. Oper. Res..

[6]  Lu-Sin Liu.  Enhancing Robot Positioning Accuracy Using Optimal Configuration Data , 2005 .

[7]  Hanqi Zhuang,et al.  Optimal selection of measurement configurations for robot calibration using simulated annealing , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[9]  Giovanni Legnani,et al.  Three methodologies for the calibration of industrial manipulators: Experimental results on a SCARA robot , 2000 .

[10]  Wang Dong-shu,et al.  Robot Calibration Algorithms and Their Application to Polishing Robot , 2005 .

[11]  John M. Hollerbach,et al.  The noise amplification index for optimal pose selection in robot calibration , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[12]  Chia-Hsiang Menq,et al.  Determination of Optimal Measurement Configurations for Robot Calibration Based on Observability Measure , 1991, Int. J. Robotics Res..

[13]  S. Halasz,et al.  PARAMETER IDENTIFICATION OF A ROBOT ARM USING GENETIC ALGORITHMS , 2001 .