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.
Type de document :
Communication dans un congrès
IEEE International Conference on Robotics and Automation (ICRA), May 2002, Washington, United States. 1, pp.147-152, 2002, Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on. 〈10.1109/ROBOT.2002.1013353〉
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https://hal.inria.fr/hal-00990067
Contributeur : David Daney <>
Soumis le : mardi 13 mai 2014 - 09:03:33
Dernière modification le : samedi 27 janvier 2018 - 01:31:32

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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. 1, pp.147-152, 2002, Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on. 〈10.1109/ROBOT.2002.1013353〉. 〈hal-00990067〉

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