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Data for "Estimating Uncertainty in Robot Kinematics and Pose Measurements with Expectation-Maximization"
Included here are figures and relevant data for the work "Estimating Uncertainty in Robot Kinematics and Pose Measurements with Expectation-Maximization". We present a method to validate the measurement uncertainty of a metrology instrument without a priori estimates in the context of a kinematic calibration using Expectation-Maximization methods and extend our results to characterize post-calibration pose uncertainty for the manipulator throughout a workspace. This technique permits the robot kinematic model to be fitted simultaneously with a parameterized uncertainty model derived from direct-drive laser tracker kinematics. We demonstrate the performance of this algorithm in a simulated and experimental setting, achieving 6.4um position and 70.8 urad rotation error for kinematic calibration and statistically validating the fitted uncertainty model for points throughout the calibrated workspace.
Complete Metadata
| @type | dcat:Dataset |
|---|---|
| accessLevel | public |
| bureauCode |
[
"006:55"
]
|
| contactPoint |
{
"fn": "Benjamin Moser",
"hasEmail": "mailto:benjamin.moser@nist.gov"
}
|
| description | Included here are figures and relevant data for the work "Estimating Uncertainty in Robot Kinematics and Pose Measurements with Expectation-Maximization". We present a method to validate the measurement uncertainty of a metrology instrument without a priori estimates in the context of a kinematic calibration using Expectation-Maximization methods and extend our results to characterize post-calibration pose uncertainty for the manipulator throughout a workspace. This technique permits the robot kinematic model to be fitted simultaneously with a parameterized uncertainty model derived from direct-drive laser tracker kinematics. We demonstrate the performance of this algorithm in a simulated and experimental setting, achieving 6.4um position and 70.8 urad rotation error for kinematic calibration and statistically validating the fitted uncertainty model for points throughout the calibrated workspace. |
| identifier | ark:/88434/mds2-3049 |
| issued | 2023-08-08 |
| keyword |
[
"Hybrid Manipulator",
"Laser Tracker Uncertainty",
"Pose Uncertainty",
"Robot Calibration"
]
|
| landingPage | https://data.nist.gov/od/id/mds2-3049 |
| language |
[
"en"
]
|
| license | https://www.nist.gov/open/license |
| modified | 2023-07-18 00:00:00 |
| programCode |
[
"006:045"
]
|
| publisher |
{
"name": "National Institute of Standards and Technology",
"@type": "org:Organization"
}
|
| theme |
[
"Manufacturing:Robotics in manufacturing",
"Mathematics and Statistics:Uncertainty quantification"
]
|
| title | Data for "Estimating Uncertainty in Robot Kinematics and Pose Measurements with Expectation-Maximization" |
