Robotic Kinematic Calibration with Only Position Data and Consideration of Non-Geometric Errors Using POE-Based Model and Gaussian Mixture Models
Xiao Luo,Yitian Xian,Mancheong Lei,Jian Li,Ke Xie,Limin Zou,Zheng Li,Xiao Luo,Yitian Xian,Mancheong Lei,Jian Li,Ke Xie,Limin Zou,Zheng Li
Kinematic calibration is crucial to improve the positioning accuracy of serial robots. This paper proposes a novel algorithm for robotic kinematic calibration based on an augmented product of exponentials (POE)-based kinematic model using Gaussian mixture models (GMMs) with only position data. In this algorithm, non-geometric errors that cannot be fitted by varying the parameters within the tradit...
