A Highly Accurate Calibrator Based on a Novel Variable Step-Size Levenberg-Marquardt Algorithm

Xin Luo; Zhibin Li; Long Jin; Shuai Li

doi:10.1007/978-981-99-5766-8_7

A Highly Accurate Calibrator Based on a Novel Variable Step-Size Levenberg-Marquardt Algorithm

Xin Luo^*, Zhibin Li, Long Jin, Shuai Li

^*Corresponding author for this work

BA56 Cognitive production industry

Research output: Chapter in Book/Report/Conference proceeding › Chapter or book article › Scientific › peer-review

Abstract

This chapter develops an efficient calibrator based on a novel unscented Kalman filter and a variable step-size Levenberg-Marquardt algorithm (UKF-VSLM). Sect. 7.1 first discusses the research background for robot calibration, then Sect. 7.2 introduces the basic principles for an unscented Kalman filter and a variable step-size Levenberg-Marquardt algorithm. Furthermore, Sect. 7.3 presents extensive experiments on an ABB IRB120 industrial robot. Lastly, the conclusions are drawn in Sect. 7.4.

Original language	English
Title of host publication	Robot Control and Calibration
Subtitle of host publication	Innovative Control Schemes and Calibration Algorithms
Place of Publication	Singapore
Publisher	Springer
Pages	111-121
ISBN (Electronic)	978-981-99-5766-8
ISBN (Print)	978-981-99-5765-1
DOIs	https://doi.org/10.1007/978-981-99-5766-8_7
Publication status	Published - 2023
MoE publication type	A3 Part of a book or another research book

Publication series

Series	SpringerBriefs in Computer Science
Volume	Part F1465
ISSN	2191-5768

Keywords

Calibration accuracy
Local optimum
Measurement noises
Unscented Kalman filter
Variable step-size Levenberg-Marquardt algorithm

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-981-99-5766-8_7

Cite this

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title = "A Highly Accurate Calibrator Based on a Novel Variable Step-Size Levenberg-Marquardt Algorithm",

abstract = "This chapter develops an efficient calibrator based on a novel unscented Kalman filter and a variable step-size Levenberg-Marquardt algorithm (UKF-VSLM). Sect. 7.1 first discusses the research background for robot calibration, then Sect. 7.2 introduces the basic principles for an unscented Kalman filter and a variable step-size Levenberg-Marquardt algorithm. Furthermore, Sect. 7.3 presents extensive experiments on an ABB IRB120 industrial robot. Lastly, the conclusions are drawn in Sect. 7.4.",

keywords = "Calibration accuracy, Local optimum, Measurement noises, Unscented Kalman filter, Variable step-size Levenberg-Marquardt algorithm",

author = "Xin Luo and Zhibin Li and Long Jin and Shuai Li",

note = "Shuai Li on externaali",

year = "2023",

doi = "10.1007/978-981-99-5766-8_7",

language = "English",

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address = "Germany",

}

A Highly Accurate Calibrator Based on a Novel Variable Step-Size Levenberg-Marquardt Algorithm. / Luo, Xin; Li, Zhibin; Jin, Long et al.
Robot Control and Calibration: Innovative Control Schemes and Calibration Algorithms. Singapore: Springer, 2023. p. 111-121 (SpringerBriefs in Computer Science, Vol. Part F1465).

Research output: Chapter in Book/Report/Conference proceeding › Chapter or book article › Scientific › peer-review

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AB - This chapter develops an efficient calibrator based on a novel unscented Kalman filter and a variable step-size Levenberg-Marquardt algorithm (UKF-VSLM). Sect. 7.1 first discusses the research background for robot calibration, then Sect. 7.2 introduces the basic principles for an unscented Kalman filter and a variable step-size Levenberg-Marquardt algorithm. Furthermore, Sect. 7.3 presents extensive experiments on an ABB IRB120 industrial robot. Lastly, the conclusions are drawn in Sect. 7.4.

KW - Calibration accuracy

KW - Local optimum

KW - Measurement noises

KW - Unscented Kalman filter

KW - Variable step-size Levenberg-Marquardt algorithm

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A Highly Accurate Calibrator Based on a Novel Variable Step-Size Levenberg-Marquardt Algorithm

Abstract

Publication series

Keywords

UN SDGs

Access to Document

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Robot Control and Calibration: Innovative Control Schemes and Calibration Algorithms

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