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The selection of measurement configurations in robot calibration is investigated. The goal is to select a set of robot measurement configurations with modified simulated annealing algorithm so that the effect of measurement and modeling errors in parameter estimation can be minimized. To accelerate the convergence rate, a suitable cooling schedule is devised. The interactive influences of the parameters in cooling schedule on the algorithm performance are discussed. Experiment results, comparing with those of the local search algorithm, are presented to verify the feasibility of the proposed approach.