Title :
The noise amplification index for optimal pose selection in robot calibration
Author :
Nahvi, Ali ; Hollerbach, John M.
Author_Institution :
Dept. of Mech. Eng., Utah Univ., Salt Lake City, UT, USA
Abstract :
This paper presents a new observability index to quantify the selection of best pose set in robot calibration. This noise amplification index is considerably more sensitive to calibration error than previously published observability indices. Support for the proposed index as provided analytically and geometrically, and also through comparison against previous indices by a simulation for a 3-link planar robot and by an experiment for a 3-DOF redundant parallel-drive robot
Keywords :
Jacobian matrices; calibration; noise; observability; robot kinematics; singular value decomposition; 3-DOF redundant parallel-drive robot; 3-link planar robot; best pose set; calibration error; noise amplification index; observability index; observability indices; optimal pose selection; robot calibration; Calibration; Computer science; Equations; Integrated circuit noise; Jacobian matrices; Kinematics; Mechanical engineering; Observability; Parallel robots; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503848
