Kinematic Calibration of Serial Manipulators Using Relative Measurements
Bibliographic record
Abstract
Kinematic calibration is necessary to enhance the accuracy of robotic manipulators.It is typically desired to perform this task in both a cost-effective and time-efficient manner.Many techniques exist in the literature that achieve both goals.In this thesis, a novel model-based kinematic calibration method using relative measurements is developed and implemented, which has proven to be useful for optical measurements, and is capable of achieving the same level of accuracy as the typical absolute measurement methods.Furthermore, the effects of measurement noise, the number of measured poses, and the best pose configurations for kinematic calibration are investigated.Both a Thermo CRS A465 and a 7 DOF WAM Arm were used in this thesis.The results for the WAM Arm lead to a significant improvement in the end-effector pose accuracy.The implication is that the relative measurement concept is a valid tool for model-based kinematic calibration of serial manipulators.iii
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.002 | 0.007 |
| Meta-epidemiology (narrow) | 0.002 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.002 | 0.002 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.003 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.005 | 0.003 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".