Title :
Observability index of identified parameter for kinematic calibration of parallel mechanism
Author :
Peng, Chang ; Chengrong, Li ; Jun, Wu ; Tiemin, Li
Author_Institution :
Hi-tech Innovation Center, Inst. of Autom. Chinese Acad. of Sci., Beijing, China
Abstract :
This paper presents a new observability index of identified parameter to quantify the selection of best configuration set in kinematic calibration of parallel mechanisms. This proposed observability index has the following advantages: (1) it is a detailed index for each identified parameters, that is, one index corresponds to one identified parameter; (2) it has a real significance: the variations of estimated value of the identified parameter; (3) it includes the information of both identification Jacobian and measurement noise. Simulation results of a three degrees-of-freedom (DOF) parallel mechanism are given to illustrate the validity and effectiveness of the proposed index.
Keywords :
Jacobian matrices; calibration; kinematics; manipulator kinematics; noise measurement; observability; parameter estimation; degrees-of-freedom; identification Jacobian; kinematic calibration; measurement noise; observability index; parallel mechanism; Automation; Calibration; Instruments; Jacobian matrices; Kinematics; Length measurement; Noise measurement; Observability; Parameter estimation; Technological innovation; kinematic calibration; observability index; parallel mechanism;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-7737-1
DOI :
10.1109/MACE.2010.5535471
