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The proof of a better performance by one-stage than two-stage estimation in robot calibration.
- Source :
-
Advanced Robotics . Aug2015, Vol. 29 Issue 15, p989-960. 14p. - Publication Year :
- 2015
-
Abstract
- 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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 01691864
- Volume :
- 29
- Issue :
- 15
- Database :
- Academic Search Index
- Journal :
- Advanced Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 109171835
- Full Text :
- https://doi.org/10.1080/01691864.2015.1027733