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Optimal Measurement Configurations for Gough Platform Calibration

David Daney 1
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : The robustness of robot calibration with respect to sensor noise is sensitive to the manipulator poses used to collect measurement data. The present paper proposes an algorithm based on a constrained optimization method which allows one to choose an set the measurement configurations. It works by selecting iteratively one pose after another inside the workspace, and after a few steps a set of N configurations is obtained which maximizes an index of observability associated to the parameter Jacobian. Our algorithm converges to a set of poses that are localized at the. boundary of the articular workspace. Finally, a validation through simulation of a calibration experience shows that selected configurations improve significatively the kinematic parameters identification by dividing 10 to 15 the noise associated to the results.
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https://hal.inria.fr/hal-00990067
Contributor : David Daney <>
Submitted on : Tuesday, May 13, 2014 - 9:03:33 AM
Last modification on : Thursday, March 5, 2020 - 4:54:19 PM

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David Daney. Optimal Measurement Configurations for Gough Platform Calibration. IEEE International Conference on Robotics and Automation (ICRA), May 2002, Washington, United States. pp.147-152, ⟨10.1109/ROBOT.2002.1013353⟩. ⟨hal-00990067⟩

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