Residual index for measurement configuration optimization in robot kinematic calibration

To improve the efficiency and accuracy of kinematic calibration, selection measurement configurations is an important issue. In previous research, optimal mainly are selected by maximizing observability indices. However, traditional indices only focus on identification error parameters, while purpose robot calibration to accuracy. solve inconsistency between index concept residual represent distribution end effector after with noise proposed. Based quadratic form minimization residuals, this article defines a specific index, Or, which dimensionless strictly better increase configurations. The used select in 5-DOF 2UPU/SP-RR hybrid robot, results show that proposed than stability residual.