Observability Index Selection for Robot Calibration
Document Type
Conference Proceeding
Publication Date
5-2008
Keywords
position control, end effectors, observability, optimal control, G-optimality, observability index selection, robot calibration, alphabet optimalities, D-optimality, end-effector position, E-optimality
Digital Object Identifier (DOI)
https://doi.org/10.1109/ROBOT.2008.4543308
Abstract
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.
Was this content written or created while at USF?
No
Citation / Publisher Attribution
2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, p. 831-836.
Scholar Commons Citation
Sun, Yu and Hollerbach, John, "Observability Index Selection for Robot Calibration" (2008). Computer Science and Engineering Faculty Publications. 101.
https://digitalcommons.usf.edu/esb_facpub/101
