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Residual index for measurement configuration optimization in robot kinematic calibration

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Abstract

To improve the efficiency and accuracy of kinematic calibration, the selection of measurement configurations is an important issue. In previous research, optimal measurement configurations mainly are selected by maximizing observability indices. However, the traditional observability indices only focus on the identification efficiency of the error parameters, while the purpose of robot kinematic calibration is to improve accuracy. To solve the inconsistency of the purpose between the observability index and calibration, the concept of the residual index to represent the residual distribution of the end effector after robot kinematic calibration with the measurement noise is proposed. Based on the quadratic form minimization of residuals, this article defines a specific residual index, Or, which is dimensionless and strictly better with the increase of measurement configurations. The indices are used to select measurement configurations in the kinematic calibration of a 5-DOF 2UPU/SP-RR hybrid robot, and the calibration results show that the proposed residual index is better than the traditional indices in the accuracy and stability of the end effector residual.

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Authors and Affiliations

  1. State Key Laboratory of Tribology in Advanced Equipment and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Hao Ye & Jun Wu

  2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, 100084, China

    Hao Ye & Jun Wu

Authors
  1. Hao Ye
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  2. Jun Wu
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Corresponding author

Correspondence to Jun Wu.

Additional information

This work was supported by the National Natural Science Foundation of China (Grant No. 51975321), EU H2020-MSCA-RISE-ECSASDPE (Grant No. 734272), and Tsinghua-Jiangyin Innovation Special Fund (Grant No. TJISF 2022JYTH01).

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The supporting information is available online at tech.scichina.com and link.springer.com. The supporting materials are published as submitted, without typesetting or editing. The responsibility for scientific accuracy and content remains entirely with the authors.

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Ye, H., Wu, J. Residual index for measurement configuration optimization in robot kinematic calibration. Sci. China Technol. Sci. 66, 1899–1915 (2023). https://doi.org/10.1007/s11431-022-2409-1

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  • DOI: https://doi.org/10.1007/s11431-022-2409-1

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