Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators

Alexandr Klimchik (1, 2) , Yier Wu (1, 2) , Anatol Pashkevich (1, 2) , Stéphane Caro (2) , Benoît Furet (3)

1 Mines Nantes - Mines Nantes
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
3 Modélisation et Optimisation de Process de Production (MO2P)

The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot calibration. This strategy is based on the concept of the robot test-pose and ensures the best compliance error compensation for the test configuration. The advantages of the proposed approach and its suitability for practical applications are illustrated by numerical examples, which deal with calibration of elastostatic parameters of a 3 degrees of freedom anthropomorphic manipulator with rigid links and compliant actuated joints

Mots clés: Anthropomorphic Manipulator; Elastostatic Parameters Identification; Optimality Criteria; Robot Calibration; Selection of Measurement Poses

Domaines: Robotique [cs.RO]

Alexandr Klimchik, Yier Wu, Anatol Pashkevich, Stéphane Caro, Benoît Furet. Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators. Applied Mechanics and Materials, 2012, 162, pp.161-170. ⟨10.4028/www.scientific.net/AMM.162.161⟩. ⟨hal-00756893⟩