Comparison of Pose Selection Criteria for Kinematic Calibration through Simulation

This paper explores the effectiveness of criteria to select a set of poses, which improve the calibration accuracy, out of a larger pool of possible poses. Five different criteria have been suggested in the literature and are investigated in this article. The effectiveness of the pose selection criteria is explored with a simulation of a two degrees of freedom planar manipulator. The results of this simulation show that using a larger number of poses, irregardless of any pose selection criteria, is preferable. When a small number of poses are used the pose selection criteria does have a significant effect.