6533b854fe1ef96bd12af221
RESEARCH PRODUCT
Calibration of the Norwegian motion laboratory using conformal geometric algebra
Olav HengSondre Sanden Tørdalsubject
Surface (mathematics)0209 industrial biotechnologyPlane (geometry)Conformal geometric algebraGeometry02 engineering and technology01 natural sciencesMeasure (mathematics)Standard deviation020901 industrial engineering & automationLaser tracker0103 physical sciencesCalibrationPoint (geometry)010307 mathematical physicsAlgorithmMathematicsdescription
This paper applies Conformal Geometric Algebra (CGA) as a tool for calibrating the robotic equipment found in the Norwegian Motion Laboratory. By using the inner product of CGA to measure the distance between a point and the surface of a plane/sphere, the least-squares method can be used to solve for the unknown parameters describing the plane/sphere in an efficient and intuitive way given n measured points. Positional data samples were acquired from using a high precision Laser tracker (FARO Xi), and the overall calibration error was found to be no more than 4.90mm, and the maximum standard deviation 3.25mm. In addition, the applied least-squares algorithm using CGA was twice as fast, when compared to more conventional methods.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2017-06-27 | Proceedings of the Computer Graphics International Conference |