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Optimality Criteria for Measurement Poses Selection in Calibration of Robot Stiffness Parameters

[+] Author Affiliations
Yier Wu, Alexandr Klimchik, Anatol Pashkevich

Ecole des Mines de Nantes, Nantes, FranceIRCCyN, CNRS, Nantes, France

Stéphane Caro, Benoît Furet

IRCCyN, CNRS, Nantes, France

Paper No. ESDA2012-82213, pp. 185-194; 10 pages
doi:10.1115/ESDA2012-82213
From:
  • ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering
  • Nantes, France, July 2–4, 2012
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4486-1
  • Copyright © 2012 by ASME

abstract

The paper focuses on the accuracy improvement of industrial robots by means of elasto-static parameters calibration. It proposes a new optimality criterion for measurement poses selection in calibration of robot stiffness parameters. This criterion is based on the concept of the manipulator test pose that is defined by the user via the joint angles and the external force. The proposed approach essentially differs from the traditional ones and ensures the best compliance error compensation for the test configuration. The advantages of this approach and its suitability for practical applications are illustrated by numerical examples, which deal with calibration of elasto-static parameters of planar manipulator with rigid links and compliant actuated joints.

Copyright © 2012 by ASME

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