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
Appears in Collections:Articles