Kinematic Localization for IYorld Model Calilxation iii Off-Line Robot Prograinmiiig Using Clifford Algehra
Bahram Ravani · 1991
This paper deals with calibrat.ing spatial relationships a.niong CAD models of objects used in off line robot, progra.mming. An approach based on a Clifford algrbra is used and siniple algoritliiiis are developed lor t,liis kiiieiiiatic localization problem. The posiition and orientation of ea.ch object in a workcell are represeiit,ed by inultivectors of different ranks and tlie localimtion problem is converted into that. of sol\-ing a set of niultivector equations. Given loca,t.ions of poiiit,s in two frames, an averaging process is developed which yields the best orientatioii as the root, of four linear equatioiis and the best, position as a linear comt,iiiat,ion of the best rotation and t,he ceiit,roids of two point syst.eins. If normal vectors are also seiised, t,he Clifford algebra represent,ation facilitates definition of a iiieasure of orientation error compatible wit,h the posit.ion error.