In this paper, we conduct a comparative study of three well known robot kinematic calibration algorithms, namely the Denavit-Hartenberg (DH) parameter algorithm, the product of exponentials (POE) algorithm, and the local POE (LPOE) algorithm. To cope with distinct formulations associated to different algorithms, we propose a unified geometric framework which is based on POE kinematics and a novel Adjoint error model. The Adjoint error model offers us an extremely efficient way to benchmark the aforesaid calibration algorithms, and also compare them to a novel calibration algorithm based on the Adjoint error model.

Calibration, Joints, Kinematics, Jacobian matrices, Robot kinematics, Manipulators

Y. Wu, C. Li, J. Li, Z. Li, "Comparative study of robot kinematic calibration algorithms using a unified geometric framework," 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 31 May–07 Jun, 2014, pp. 1393–1398.

@INPROCEEDINGS{6907034,
author={Wu, Yuanqing and Li, Cheng and Li, Jing and Li, Zexiang},
booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA)},
title={Comparative study of robot kinematic calibration algorithms using a unified geometric framework},
year={2014},
volume={},
number={},
pages={1393-1398},
keywords={Calibration;Joints;Kinematics;Jacobian matrices;Robot kinematics;Manipulators},
doi={10.1109/ICRA.2014.6907034}
}