Title :
Active robot calibration algorithm
Author :
Sun, Yu ; Hollerbach, John M.
Author_Institution :
Sch. of Comput., Univ. of Utah, Salt Lake City, UT
Abstract :
This paper presents a new updating algorithm to reduce the complexity of computing an observability index for kinematic calibration of robots. An active calibration algorithm is developed to include an updating algorithm in the pose selection process. Simulations on a 6-DOF PUMA robot with 27 unknown parameters shows that the proposed algorithm performs more than 50,000 times better than exhaustive search based on randomly generated designs.
Keywords :
computational complexity; observability; robot kinematics; active robot calibration algorithm; complexity reduction; observability index; pose selection process; robot kinematic calibration; updating algorithm; Algorithm design and analysis; Calibration; Eigenvalues and eigenfunctions; Iterative algorithms; Jacobian matrices; Kinematics; Observability; Robotics and automation; Robots; Sun;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543379
