Skip to main content
SpringerLink
Log in

A Sufficient Condition for Parameter Identifiability in Robotic Calibration

  • Conference paper
  • First Online:
Book cover Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 15))

Abstract

Calibration aims at identifying the model parameters of a robot through experimental measures. In this paper, necessary mathematical conditions for calibration are developed, considering the desired accuracy, the sensor inaccuracy of the joint coordinates, and the measurement noise. They enable to define a physically meaningful stop criterion for the identification algorithm and a numerical bound for the observability index \(O_3\), the minimum singular value of the observability matrix. With this bound, observability problems can be safely detected during calibration. Those conditions for calibration are illustrated through a simple example.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Arendt, P., Apley, D.W., Chen, W.: Quantification of model uncertainty: Calibration, model discrepancy, and identifiability. ASME J. Mech. Des. 134(100), 908 (2012)

    Google Scholar 

  2. Daney, D., Papegay, Y., Blaise, M.: Choosing measurement poses for robot calibration with the local convergence method and tabu search. Int. J. Robot. Res. 24(6), 501–518 (2005)

    Article  Google Scholar 

  3. Everett, L.J., Driels, M., Mooring, B.W.: Kinematic modelling for robot calibration. In: Robot. Auto. 4 183–189 (1987)

    Google Scholar 

  4. Hollerbach, J., Khalil, W., Gautier, M.: Handbook of Robotics, Chap. 14. Springer, Berlin (2008)

    Google Scholar 

  5. Merlet, J.P., Daney, D.: Dimensional synthesis of parallel robots with a guaranteed given accuracy over a specific workspace. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 942–947. Barcelona (2005)

    Google Scholar 

  6. Merlet, J.P.: Parallel Robots, 2nd edn. vol. 128. Springer, Dordrecht (2006)

    Google Scholar 

  7. Mooring, B.W., Padavala, S.S.: The effect of kinematic model complexity on manipulator accuracy. In: Robotics and Automation, vol. 1. (1989)

    Google Scholar 

  8. Mooring, B., Driels, M., Roth, Z.: Fundamentals of Manipulator Calibration. Wiley, New York (1991)

    Google Scholar 

  9. Sun, Y., Hollerbach, J.M.: Observability index selection for robot calibration. In: Robotics and Automation, pp. 831–836. (2008)

    Google Scholar 

  10. URL www-sop.inria.fr/coprin/developpements/worksheets-ck13/

  11. Vischer, P.: Improving the accuracy of parallel robots. Ph.D. thesis, Ecole Polytechnique Fdrale de Lausanne (1996)

    Google Scholar 

Download references

Acknowledgments

This work has been supported by Thales Alenia Space and the Region “Provence-Alpes-Côte-d’Azur”.

Author information

Authors and Affiliations

  1. INRIA Sophia Antipolis, Sophia-Antipolis cedex, France

    Thibault Gayral & David Daney

Authors
  1. Thibault Gayral
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. David Daney
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Thibault Gayral .

Editor information

Editors and Affiliations

  1. Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

    Federico Thomas

  2. Mechanical Engineering, Idaho State University, Pocatello, Idaho, USA

    Alba Perez Gracia

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer Science+Business Media Dordrecht

About this paper

Cite this paper

Gayral, T., Daney, D. (2014). A Sufficient Condition for Parameter Identifiability in Robotic Calibration. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_15

Download citation

  • DOI: https://doi.org/10.1007/978-94-007-7214-4_15

  • Published:

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7213-7

  • Online ISBN: 978-94-007-7214-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation