Total least squares in robot calibration

descriptionPublicationkeyboard_double_arrow_right Part of book or chapter of book , Conference object , Article 11 Dec 2005 English Publisher:Springer Science and Business Media LLC

Authors: John M. Hollerbach; Ali Nahvi;

doi: 10.1007/bfb0035218

Total least squares in robot calibration

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Abstract

The role of input noise is seldom considered in robot calibration. The methodology of total least squares may be applied to handle both input and output noise in robot calibration. Experimentally, we apply this method towards joint torque sensor calibration, and towards kinematic calibration of a redundant parallel-drive spherical joint in a variant called the implicit loop method.

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University of Utah
United States

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