| 基于Solis&Wets算法的机器人最优测量构形研究 |
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| 引用本文： | 王东署,张志佳.基于Solis&Wets算法的机器人最优测量构形研究[J].计算机工程与应用,2007,43(5):7-9,59. |
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| 作者姓名： | 王东署 张志佳 |
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| 作者单位： | [1]郑州大学电气工程学院,郑州450001 [2]沈阳工业大学信息工程学院,沈阳110023 |
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| 基金项目： | 国家高技术研究发展计划（863）（No.2004AA001090）. |
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| 摘 要： | 研究了机器人标定中最优测量构形的选择,采用奇异值分解方法获得了机器人误差传播矩阵的条件数,以该条件数为优化的目标函数,利用Solis&Wets算法来选择机器人的一系列最优测量构形,以最小化参数估计中测量和建模误差的影响。实验结果表明该方法的标定结果优于随机选择的标定构形的标定结果。
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| 关 键 词： | 机器人 标定 Solis&Wets算法 最优测量构形 |
| 文章编号： | 1002-8331（2007）05-0007-03 |
| 修稿时间： | 2006-11 |
Optimal measurement configurations for robot calibration based on solis&Wets algorithm |
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| WANG Dong-shu,ZHANG Zhi-jia.Optimal measurement configurations for robot calibration based on solis&Wets algorithm[J].Computer Engineering and Applications,2007,43(5):7-9,59. |
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| Authors: | WANG Dong-shu ZHANG Zhi-jia |
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| Affiliation: | 1.Electrical Engineering School of Zhengzhou University,Zhengzhou 450001 ,China ;2.Information Engineering School of Shenyang Industrial University,Shenyang 110023,China |
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| Abstract: | The selection of measurement configurations in robot calibration is investigated.Condition number of the robot error propagation matrix is achieved through singular value decomposition,using the condition number as the optimization objective function,a set of robot measurement configurations are selected with Solis&Wets algorithm,so that the effect of measurement and modeling errors in parameter estimation can be minimized.Experiment results show that its calibration effect is superior to those of the random selection calibration configurations. |
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| Keywords: | robot calibration Solis&Wets algorithm optimal measurement configuration |
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