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Observability index optimization of robot calibration based on multiple identification spaces

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Abstract

A calibration method is proposed for six-DoF serial robot based on multiple identification spaces consisting of two subspaces in which the orientations of joint 3 and poses of end-effector are measured simultaneously using hybrid sensors. The rotational geometric errors with higher sensitivities are identified in the first space while the rest are identified in the second. Compared with single identification space used in traditional methods, the number of geometric errors to be identified is reduced in each subspace. Thus the identification vectors corresponding to the geometric errors belonging to identification models can be better spaced. Simulation results show that the observability indices and identifiability are further improved by using the multiple identification spaces. Experimental results are also obtained from a six-DoF serial robot with laser tracker and IMUs to verify the identification accuracy improvement. Uncertainty analysis of each identification results is also provided.

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Acknowledgments

This work was supported by Young Scientists Fund of National Natural Science Foundation of China [Grant Number 51805039], The Supplementary and Supportive Project for Teachers at Beijing Information Science & Technology University (2018–2020) [Grant Number 5029011103], General Project of Science and Technology Plan of Beijing Municipal Education Commission [Grant Number KM201911232024].

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Authors and Affiliations

  1. Institute of Electromechanical Engineering, Beijing Information Science and Technology University, 12 Xiaoying East Road, 100192, Haidian District, Beijing, Qinghe, China

    Zhouxiang Jiang & Min Huang

  2. Key Laboratory of Modern Measurement and Control Technology, Ministry of Education, Beijing Information Science and Technology University, 12 Xiaoying East Road, 100192, Haidian District, Beijing, Qinghe, China

    Zhouxiang Jiang

  3. National NC System Engineering Research Center, Huazhong University of Science and Technology, 1037 Luoyu Road, 430074, Wuhan, China

    Xiaoqi Tang, Bao Song & Yixuan Guo

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  1. Zhouxiang Jiang
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  2. Min Huang
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  3. Xiaoqi Tang
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  4. Bao Song
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  5. Yixuan Guo
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Correspondence to Zhouxiang Jiang.

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Jiang, Z., Huang, M., Tang, X. et al. Observability index optimization of robot calibration based on multiple identification spaces. Auton Robot 44, 1029–1046 (2020). https://doi.org/10.1007/s10514-020-09920-1

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