Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit

<div>The corresponding end-effector frames of the measurement configurations. A total of 52 configurations are selected as measurement configurations, one of which is defined as <span class="nowrap"><svg height="11.8957pt" id="M360" style="vertical-align:-3.18152pt" version="1.1" viewbox="-0.0498162 -8.71418 17.0092 11.8957" width="17.0092pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M388 665C159 665 42 485 42 321C42 132 178 -15 377 -15C566 -15 718 122 718 333C718 528 570 665 388 665ZM371 622C490 622 565 502 565 303C565 116 493 29 397 29C268 29 196 170 196 343C196 515 269 622 371 622ZM494 222V451H459C452 394 446 389 408 389H353C313 390 306 395 299 451H265V222H299C307 279 314 285 352 285H407C446 285 452 279 460 222H494Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.917,3.132)"><path d="M722 32C646 41 636 48 622 116L544 496L509 667L472 658L153 123C106 45 93 42 27 32L18 0H259L268 32C178 40 172 48 204 107L272 233H509C523 180 533 137 540 96C548 50 546 39 466 32L457 0H714L722 32ZM502 283H299L448 547H450L502 283Z"></path></g></svg>,</span> while the other configurations are treated as <span class="nowrap"><svg height="11.8957pt" id="M361" style="vertical-align:-3.18152pt" version="1.1" viewbox="-0.0498162 -8.71418 16.0683 11.8957" width="16.0683pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M388 665C159 665 42 485 42 321C42 132 178 -15 377 -15C566 -15 718 122 718 333C718 528 570 665 388 665ZM371 622C490 622 565 502 565 303C565 116 493 29 397 29C268 29 196 170 196 343C196 515 269 622 371 622ZM494 222V451H459C452 394 446 389 408 389H353C313 390 306 395 299 451H265V222H299C307 279 314 285 352 285H407C446 285 452 279 460 222H494Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.917,3.132)"><path d="M598 511C598 627 497 650 401 650H141L131 618C219 611 222 606 210 538L130 119C117 43 108 39 25 32L18 0H236C324 0 396 5 456 30C531 59 585 119 585 193C585 285 520 331 428 351V353C529 373 598 423 598 511ZM502 508C502 418 431 368 330 368H263L298 559C303 584 308 595 317 600C329 608 345 612 369 612C428 612 502 595 502 508ZM483 197C483 95 404 39 309 39C225 39 206 58 219 139L256 330H317C395 330 483 301 483 197Z"></path></g></svg>.</span></div>

International Journal of Aerospace Engineering

fig8

Figure 8

Figure 8: Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit 