標題: | The proof of a better performance by one-stage than two-stage estimation in robot calibration |
作者: | Hu, Jwu-Sheng Wang, Jyun-Ji 電機工程學系 Department of Electrical and Computer Engineering |
關鍵字: | robot calibration;estimation |
公開日期: | 2015 |
摘要: | Calibration of a robot manipulator requires an external instrument to measure its end-effector locations. If the parameters are estimated directly from the measurements, it is called one-stage estimation. Otherwise, it is called two-stage estimation. It was previously observed that two-stage estimation has the drawback of error propagation. Theoretically, it is known that for linear system, the minimum variance is achieved using the best linear unbiased estimator in one-stage estimation. However, the two-stage estimation can also achieve the minimum variance under certain conditions. In this paper, the statistical properties of both are explored in detail under a newly established mathematical fact. The result can be extended to the nonlinear estimation problem via approximation. Simulations of robot calibration by a coordinate measuring machine and eye-in-hand camera are conducted and the results confirm the theoretical analysis. |
URI: | http://dx.doi.org/10.1080/01691864.2015.1027733 http://hdl.handle.net/11536/133586 |
ISSN: | 0169-1864 |
DOI: | 10.1080/01691864.2015.1027733 |
期刊: | ADVANCED ROBOTICS |
Volume: | 29 |
Issue: | 15 |
起始頁: | 947 |
結束頁: | 960 |
顯示於類別: | 期刊論文 |