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Optimal measurement configurations for kinematic calibration of six-DOF serial robot |
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| Authors: | LI Tian SUN Kui XIE Zong-wu LIU Hong |
| Affiliation: | LI Tian1,SUN Kui1,XIE Zong-wu1,LIU Hong1,21.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China,2.Institute of Robotics and Mechatronics,German Aerospace Center,DLR,Germany |
| Abstract: | An optimal measurement pose number searching method was designed to improve the pose selection method.Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by one.The root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were calculated.The optimal number of the configuration set corresponding to the least RMS of pose error wa... |
| Keywords: | serial robot pose selection pose number kinematic calibration observability index |
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