Future paths for integer programming and links to artificial intelligence
Computers and Operations Research - Special issue: Applications of integer programming
Identifiability of parametric models
Identifiability of parametric models
International Journal of Robotics Research
Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control and Artificial Intelligence
Handbook of Evolutionary Computation
Handbook of Evolutionary Computation
Tabu Search
Parallel Robots
An algorithm for addressing the real interval eigenvalue problem
Journal of Computational and Applied Mathematics
Optimization of measurement configurations for geometrical calibration of industrial robot
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Kinematic calibration of a five-bar planar parallel robot using all working modes
Robotics and Computer-Integrated Manufacturing
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The robustness of robot calibration with respect to sensor noise is sensitive to the manipulator poses used to collect measurement data. In this paper we propose an algorithm based on a constrained optimization method, which allows us to choose a set of measurement configurations. It works by selecting iteratively one pose after another inside the workspace. After a few steps, a set of configurations is obtained, which maximizes an index of observability associated with the identification Jacobian. This algorithm has been shown, in a former work, to be sensitive to local minima. This is why we propose here meta-heuristic methods to decrease this sensibility of our algorithm. Finally, a validation through the simulation of a calibration experience shows that using selected configurations significantly improve the kinematic parameter identification by dividing by 10-15 the noise associated with the results. Also, we present an application to the calibration of a parallel robot with a vision-based measurement device.