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基于Solis&Wets算法的机器人最优测量构形研究 被引量：1

Optimal measurement configurations for robot calibration based on solis&Wets algorithm
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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。 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.
作者 王东署 张志佳
机构地区 郑州大学电气工程学院 沈阳工业大学信息工程学院
出处 《计算机工程与应用》 CSCD 北大核心 2007年第5期7-9,59,共4页 Computer Engineering and Applications
基金 国家高技术研究发展计划(863)(the National High- Tech Research and Development Plan of China under Grant No.2004AA001090)
关键词 机器人 标定 Solis&Wets算法 最优测量构形 robot calibration Solis＆Wets algorithm optimal measurement configuration
分类号 TP242.2 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献12

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共引文献12

同被引文献11

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计算机工程与应用
2007年 第5期

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