Design of Experiments for Calibration of Planar Anthropomorphic Manipulators

TL;DR

This paper introduces a new method for designing optimal calibration experiments for planar anthropomorphic manipulators, improving calibration accuracy and reducing errors through strategic configuration selection.

Contribution

It proposes a novel approach for selecting manipulator configurations to optimize calibration experiments, enhancing accuracy and efficiency.

Findings

Improved calibration accuracy demonstrated in application examples.

Reduction in parameter identification errors achieved.

Method applicable to typical anthropomorphic manipulators.

Abstract

The paper presents a novel technique for the design of optimal calibration experiments for a planar anthropomorphic manipulator with n degrees of freedom. Proposed approach for selection of manipulator configurations allows essentially improving calibration accuracy and reducing parameter identification errors. The results are illustrated by application examples that deal with typical anthropomorphic manipulators.