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OPTIMAL MEASUREMENT CONFIGURATION FOR GOUGH PLATFORM CALIBRATION


Dr. David Daney < David.Daney@sophia.inria.fr >
INRIA
France

April 10, 2002 at  11:30 AM
MC 437

Robot calibration with respect to sensor noise is sensitive to the manipulator poses used to collect measurement data. We propose an algorithm based on a constrained optimization method which allows one to choose an set of 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 with the parameter Jacobian. Our algorithm converges to a set of poses that are located at the boundary of the joint workspace. Finally, a validation through simulation of a calibration experience shows that selected configurations improve significantly the identification results by dividing by 10 to 15 the noise associated with the results.