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  "version": "1.0.1",
  "doi": "doi:10.18434/mds2-3049",
  "title": "Data for \"Estimating Uncertainty in Robot Kinematics and Pose Measurements with Expectation-Maximization\"",
  "contactPoint": {
    "fn": "Benjamin Moser",
    "hasEmail": "mailto:benjamin.moser@nist.gov"
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  "modified": "2023-07-18 00:00:00",
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  "description": [
    "Included here are figures and relevant data for the work \"Estimating Uncertainty in Robot Kinematics and Pose Measurements with Expectation-Maximization\". We present a method to validate the measurement uncertainty of a metrology instrument without a priori estimates in the context of a kinematic calibration using Expectation-Maximization methods and extend our results to characterize post-calibration pose uncertainty for the manipulator throughout a workspace. This technique permits the robot kinematic model to be fitted simultaneously with a parameterized uncertainty model derived from direct-drive laser tracker kinematics. We demonstrate the performance of this algorithm in a simulated and experimental setting, achieving 6.4um position and 70.8 urad rotation error for kinematic calibration and statistically validating the fitted uncertainty model for points throughout the calibrated workspace."
  ],
  "keyword": [
    "Robot Calibration",
    "Laser Tracker Uncertainty",
    "Pose Uncertainty",
    "Hybrid Manipulator"
  ],
  "topic": [
    {
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      "tag": "Manufacturing: Robotics in manufacturing"
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  "publisher": {
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  "_editStatus": "done",
  "theme": [
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  "authors": [
    {
      "familyName": "Moser",
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      "familyName": "Petruska",
      "fn": "Andrew J Petruska",
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      "affiliation": [
        {
          "title": "Colorado School of Mines",
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    {
      "familyName": "Gordon",
      "fn": "Joshua A Gordon",
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  "annotated": "2023-08-08T21:16:34.416067",
  "revised": "2023-08-08T20:46:28.904046",
  "issued": null,
  "firstIssued": "2023-08-08T20:46:28.904046",
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