Affiliation:
1. Departments of Mechanical Engineering and Biomedical Engineering McGill University Montreal, Quebec, Canada H3A 2B4
2. Mathematics Department General Motors Research and Development Warren, Michigan 48090
Abstract
The major approaches toward kinematic calibration are unified by considering an end-point measurement system as forming a joint and closing the kinematic loop. A calibration index is in troduced, based on the mobility equation, that considers sensed and unsensed joints and single and multiple loops and ex presses the surplus of measurements over degrees of freedom at each pose. Past work using open-loop calibration, closed-loop calibration, and screw axis measurement is classified according to this calibration index. Numerical issues are surveyed, in cluding task variable scaling, parameter variable scaling, rank determination, pose selection, and input noise handling.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software
Cited by
163 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献