Active Robot Calibration Algorithm

Document Type

Conference Proceeding

Publication Date



robot kinematics, computational complexity, observability, pose selection process, active robot calibration algorithm, updating algorithm, complexity reduction, observability index, robot kinematic calibration

Digital Object Identifier (DOI)



This paper presents a new updating algorithm to reduce the complexity of computing an observability index for kinematic calibration of robots. An active calibration algorithm is developed to include an updating algorithm in the pose selection process. Simulations on a 6-DOF PUMA robot with 27 unknown parameters shows that the proposed algorithm performs more than 50,000 times better than exhaustive search based on randomly generated designs.

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Citation / Publisher Attribution

2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, p. 1276-1281.