Observability Index Selection for Robot Calibration

Document Type

Conference Proceeding

Publication Date



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)



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.

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Citation / Publisher Attribution

2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, p. 831-836.