Optimization of measurement configurations for geometrical calibration of industrial robot

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

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 is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, the calibration experiment quality is evaluated using a concept of the user-defined test-pose. In the frame of this concept, the related optimization problem is formulated and numerical routines are developed, which allow user to generate optimal set of manipulator configurations for a given number of calibration experiments. The efficiency of the developed technique is illustrated by several examples.

Mots clés: industrial robot; calibration; design of experiments; industry-oriented performance measure; test-pose based approach

Domaines: Robotique [cs.RO]

Alexandr Klimchik, Anatol Pashkevich, Yier Wu, Benoît Furet, Stéphane Caro. Optimization of measurement configurations for geometrical calibration of industrial robot. C.-Y. Su, S. Rakheja, H. Liu. Intelligent Robotics and Applications, © Springer-Verlag Berlin Heidelberg 2012, pp.132-143, 2012, Lecture Notes in Computer Science, 978-3-642-33508-2; 978-3-642-33509-9. ⟨10.1007/978-3-642-33509-9_13⟩. ⟨hal-00756900⟩