RESEARCH PAPERS: Mechanisms Papers

Identification and Observability Measure of a Basis Set of Error Parameters in Robot Calibration

[+] Author and Article Information
Chia-Hsiang Menq, Jin-Hwan Borm

The Ohio State University, Department of Mechanical Engineering, Columbus, OH 43210

Jim Z. Lai

Allen-Bradley Co., Highland Heights, OH 44143

J. Mech., Trans., and Automation 111(4), 513-518 (Dec 01, 1989) (6 pages) doi:10.1115/1.3259031 History: Received March 01, 1988; Online November 19, 2009


This paper presents a method of identifying a basis set of error parameters in robot calibration using the Singular Value Decomposition (SVD) method. With the method, the error parameter space can be separated into two: observable subspace and unobservable one. As a result, for a defined position error model, one can determine the dimension of the observable subspace, which is vital to the estimation of error parameters. The second objective of this paper is to study, when unmodeled error exists, the implications of measurement configurations in robot calibration. For selecting measurement configurations in calibration, and index is defined to measure the observability of the error parameters with respect to a set of robot configurations. As the observability index increases, the attribution of the position errors to the parameters becomes dominant and the effects of the measurement and unmodeled errors become less significant; consequently better estimation of the parameter errors can be obtained.

Copyright © 1989 by ASME
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