Abstract: The selection of measurement configurations in robot calibration is investigated. Condition number of the robot error propagation matrix was achieved through singular value decomposition, using the condition number as the optimization objective function, a set of robot measurement configurations were selected with Solis&Wets algorithm, so that the effect of measurement and modeling errors in parameter estimation can be minimized. Experiment results show that its calibration effect is superior to those of the random selection calibration configurations.

Key words: robot, calibration, Solis&, Wets algorithm, optimal measurement configuration

摘要： 研究了机器人标定中最优测量构形的选择，采用奇异值分解方法获得了机器人误差传播矩阵的条件数，以该条件数为优化的目标函数，利用Solis&Wets算法来选择机器人的一系列最优测量构形，以最小化参数估计中测量和建模误差的影响。实验结果表明该方法的标定结果优于随机选择的标定构形的标定结果。

关键词: 机器人, 标定, Solis&, Wets算法, 最优测量构形