Sciweavers

Share
ICRA
2008
IEEE

Observability index selection for robot calibration

9 years 4 months ago
Observability index selection for robot calibration
— This paper relates 5 observability indexes for robot calibration to the “alphabet optimalities” from the experimental design literature. These 5 observability indexes are shown to be the upper and lower bounds of one another. All observability indexes are proved to be equivalent when the design is optimal after a perfect column scaling. It is shown that when the goal is to minimize the variance of the parameters, D-optimality is the best criterion. When the goal is to minimize the uncertainty of the end-effector position, E-optimality is the best criterion. It is proved that G-optimality is equivalent to E-optimality for exact design.
Yu Sun, John M. Hollerbach
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Yu Sun, John M. Hollerbach
Comments (0)
books