Efficiency Improvement of Measurement Pose Selection Techniques in Robot Calibration

Yier Wu (1, 2) , Alexandr Klimchik (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 deals with the design of experiments for manipulator geometric and elastostatic calibration based on the test-pose approach. The main attention is paid to the efficiency improvement of numerical techniques employed in the selection of optimal measurement poses for calibration experiments. The advantages of the developed technique are illustrated by simulation examples that deal with the geometric calibration of the industrial robot of serial architecture.

Domaines: Robotique [cs.RO]

Yier Wu, Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro, Benoît Furet. Efficiency Improvement of Measurement Pose Selection Techniques in Robot Calibration. The IFAC Conference on Manufacturing Modeling, Management and Control (MIM 2013), Jun 2013, Saint Petersburg, Russia. pp.832-837. ⟨hal-00909513⟩