Dimensionlessness and Threshold Denoising in Multi-joint Arm Calibration Model with Distance Constraints
Considering that the matrix of multi-joint arm calibration model with distance constraints, in which there were different orders of column magnitude, may cause illposed problem and the error in the process of calibration may affect the accuracy of the result, a method was proposed to modify the calibration matrix. Dimensionlessness and threshold denoising algorithms were used in the calibration matrix’s calculation. Recalibration and iteration were used to calculate the calibration matrix after dimensionlessness and threshold denoising. Experimental study was carried out on a 6-joint arm with a standard ruler, of which the distance was 711.199mm. The experiments showed that the method can protect the calibration equation from ill-posed problem; the standard deviation of length measurement was 0.103mm after dimensionlessness and threshold denoising, which were effective and suitable for the requirement of measurement.
Distance Constraints Ill-posed Problem Dimensionlessness Threshold Denoising Iteration
Xu You Xiong Hui-yuan Zong Zhi-jian Gao Qun
School of Engineering Sun Yat-sen University Guangzhou 510006,Guangdong Province,China
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-6
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）