DocumentCode
1865291
Title
Active robot calibration algorithm
Author
Sun, Yu ; Hollerbach, John M.
Author_Institution
Sch. of Comput., Univ. of Utah, Salt Lake City, UT
fYear
2008
fDate
19-23 May 2008
Firstpage
1276
Lastpage
1281
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location
Pasadena, CA
ISSN
1050-4729
Print_ISBN
978-1-4244-1646-2
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2008.4543379
Filename
4543379
Link To Document