Skip to Main content Skip to Navigation
Book sections

A Sufficient Condition for Parameter Identifiability in Robotic Calibration

Thibault Gayral 1 David Daney 2
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
2 HEPHAISTOS - HExapode, PHysiologie, AssISTance et Objets de Service
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Calibration aims at identifying the model parameters of a robot through experimental measures. In this paper, necessary mathematical conditions for calibration are developed, considering the desired accuracy, the sensor inaccuracy of the joint coordinates, and the measurement noise. They enable to define a physically meaningful stop criterion for the identification algorithm and a numerical bound for the observability index O3 , the minimum singular value of the observability matrix. With this bound, observability problems can be safely detected during calibration. Those conditions for calibration are illustrated through a simple example.
Keywords : Conditions for calibration Observability Least-squares
Document type :
Book sections
Complete list of metadata
https://hal.inria.fr/hal-00907496
Contributor : David Daney Connect in order to contact the contributor
Submitted on : Thursday, November 21, 2013 - 12:52:16 PM
Last modification on : Thursday, January 20, 2022 - 5:27:56 PM

Identifiers

Collections

INRIA | ENPC | PARISTECH

Citation

Thibault Gayral, David Daney. A Sufficient Condition for Parameter Identifiability in Robotic Calibration. Thomas, Federico and Perez Gracia, Alba. Computational Kinematics, 15, Springer Netherlands, pp.131-138, 2014, Mechanisms and Machine Science, 978-94-007-7213-7. ⟨10.1007/978-94-007-7214-4_15⟩. ⟨hal-00907496⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Les métriques sont temporairement indisponibles

 

Contact                    Legal Notice                    Personal Data