{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T12:04:37Z","timestamp":1773662677766,"version":"3.50.1"},"reference-count":27,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2005,6,1]],"date-time":"2005-06-01T00:00:00Z","timestamp":1117584000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2005,6]]},"abstract":"<jats:p> The robustness of robot calibration with respect to sensor noise is sensitive to the manipulator poses used to collect measurement data. In this paper we propose an algorithm based on a constrained optimization method, which allows us to choose a set of measurement configurations. It works by selecting iteratively one pose after another inside the workspace. After a few steps, a set of configurations is obtained, which maximizes an index of observability associated with the identification Jacobian. This algorithm has been shown, in a former work, to be sensitive to local minima. This is why we propose here meta-heuristic methods to decrease this sensibility of our algorithm. Finally, a validation through the simulation of a calibration experience shows that using selected configurations significantly improve the kinematic parameter identification by dividing by 10-15 the noise associated with the results. Also, we present an application to the calibration of a parallel robot with a vision-based measurement device. <\/jats:p>","DOI":"10.1177\/0278364905053185","type":"journal-article","created":{"date-parts":[[2005,7,4]],"date-time":"2005-07-04T10:47:55Z","timestamp":1120474075000},"page":"501-518","source":"Crossref","is-referenced-by-count":125,"title":["Choosing Measurement Poses for Robot Calibration with the Local Convergence                 Method and Tabu Search"],"prefix":"10.1177","volume":"24","author":[{"given":"David","family":"Daney","sequence":"first","affiliation":[{"name":"COPRIN Team, Sophia Antipolis Research Unit, French National Institute                         for Computer Science and Control, BP 93, 06902 Sophia Antipolis Cedex, France"}]},{"given":"Yves","family":"Papegay","sequence":"additional","affiliation":[{"name":"COPRIN Team, Sophia Antipolis Research Unit, French National Institute                         for Computer Science and Control, BP 93, 06902 Sophia Antipolis Cedex,                         France,"}]},{"given":"Blaise","family":"Madeline","sequence":"additional","affiliation":[{"name":"IMERIR Engineering School of Robotic and Computer Science, BP 2013, 66011                         Perpignan Cedex, France"}]}],"member":"179","published-online":{"date-parts":[[2005,6,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Baeck, T., Fogel, D. B., and Michalewicz, Z. editors. 1997. Handbook of Evolutionary Computation. Institute of Physics Publishing, Bristol, UK .","DOI":"10.1201\/9780367802486"},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Borm, J. H., and Menq, C. H. 1991. Determination of optimal measurement configurations for robot calibration based on observabililty measure . Journal of Robotic Systems 10(1): 51-63 .","DOI":"10.1177\/027836499101000106"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(03)00101-0"},{"key":"atypb4","doi-asserted-by":"crossref","unstructured":"Daney, D. 2002. Optimal measurement configurations for Gough platform calibration . Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Washington, DC, May 11-15, pp. 147-152 .","DOI":"10.1109\/ROBOT.2002.1013353"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574703005083"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620070206"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1016\/0305-0548(86)90048-1"},{"key":"atypb8","doi-asserted-by":"crossref","unstructured":"Glover, F., and Laguna, M. 1997. Tabu Search. Kluwer Academic, Boston, MA , pp. 408.","DOI":"10.1007\/978-1-4615-6089-0"},{"key":"atypb9","unstructured":"Hao, J. K., Galinier, P., and Habib, M. 1999. M\u00e9taheuristiques pour l\u2019optimisation combinatoire et l\u2019affectation sous contraintes. Revue d\u2019Intelligence Artificielle 13(2):283-324."},{"key":"atypb10","unstructured":"Holland, J. H. 1975. Adaptation in Natural and Artificial Systems, An Introductory Analysis with Applications to Biology, Control and Artificial Intelligence, 1st edition. University of Michigan, MI ."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700015575"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1126\/science.220.4598.671"},{"key":"atypb13","doi-asserted-by":"crossref","unstructured":"Lemar\u00e9chal, C., Bonnans, J. F., Gilbert, J. C., and Sagastizabal, C.A. 2003. Numerical Optimization. Springer-Verlag, Berlin .","DOI":"10.1007\/978-3-662-05078-1"},{"key":"atypb14","unstructured":"Lintott, A., and Dunlop, G. 1996. Calibration of a parallel topology robot . Proceedings of the 6th International Symposium on Robotics and Manufacturing (ISRAM), Montpellier, France, pp. 429-434 ."},{"key":"atypb15","doi-asserted-by":"crossref","unstructured":"Masory, O., Wang, J., and Zhuang, H. 1997. Kinematic modeling and calibration of a Stewart platform . Advanced Robotics 11: 519-539 .","DOI":"10.1163\/156855397X00191"},{"key":"atypb16","doi-asserted-by":"crossref","unstructured":"Merlet, J.P. 2000. Parallel Robots. Kluwer, Dordrecht .","DOI":"10.1007\/978-94-010-9587-7"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904039806"},{"key":"atypb18","doi-asserted-by":"crossref","unstructured":"Mitchell, T. J. 1974. An algorithm for the construction of d-optimal experimental designs . Techometrics 16: 203-210 .","DOI":"10.1080\/00401706.1974.10489175"},{"key":"atypb19","doi-asserted-by":"crossref","unstructured":"Nahvi, A., and Hollerbach, J.M. 1996. The noise amplification index for optimal pose selection in robot calibration . Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, MN, pp. 647-654 .","DOI":"10.1109\/ROBOT.1996.503848"},{"key":"atypb20","doi-asserted-by":"crossref","unstructured":"Nahvi, A., Hollerbach, J. M., and Hayward, V. 1994. Calibration of a parallel robot using multiple kinematics closed loops . Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), San Diego, CA, pp. 407-412 .","DOI":"10.1109\/ROBOT.1994.351262"},{"key":"atypb21","unstructured":"Rouillier, F., Faug\u00e8re, J. C., Merlet, J. P., and Rolland, L. 2005. Forward position analysis for parallel robots. In preparation."},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1115\/1.1767822"},{"key":"atypb23","unstructured":"Vischer, P. 1996. Improve the accuracy of parallel robots. Ph.D. Thesis, \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne."},{"key":"atypb24","unstructured":"Walter, E., and Pronzato, L. 1997. Identification of Parametric Models. Springer-Verlag, Berlin ."},{"key":"atypb25","unstructured":"Zhuang, H., Wang, K., and Roth, Z. S. 1994. Optimal selection of measurement configurations for robot calibration using simulated annealing . Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), San Diego, CA, pp. 393-398 ."},{"key":"atypb26","unstructured":"Zhuang, H., Wu, J., and Huang, W. 1996. Optimal planning of robot calibration experiments by genetic algorithms . Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, MN, pp. 981-986 ."},{"key":"atypb27","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199807)15:7<395::AID-ROB2>3.0.CO;2-H"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364905053185","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364905053185","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,3]],"date-time":"2025-03-03T01:01:37Z","timestamp":1740963697000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364905053185"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2005,6]]},"references-count":27,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2005,6]]}},"alternative-id":["10.1177\/0278364905053185"],"URL":"https:\/\/doi.org\/10.1177\/0278364905053185","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2005,6]]}}}