Simulation experiments in parameter identification for robot calibration

This paper examines the factors to be considered for the identification of kinematic parameters during robot calibration. A generalised calibration experiment has been simulated using two different identification techniques. Details of the identitication techniques and considerations for implementing them using standard IMSL routines are presented. The factors considered during the simulations include initial estimates of parameters, effect of measurement noise, number of pose measurements, and accuracy of the measurement system used. Results are tabulated for the various cases and suggestions are made towards the efficient planning and execution of robot-calibration experiments.