Identification of geometrical and elastostatic parameters of heavy industrial robots

Alexandr Klimchik (1, 2) , Yier Wu (1, 2) , Claire Dumas (2) , Stéphane Caro (2) , Benoît Furet (3) , Anatol Pashkevich (1, 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 focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the measurement errors, the set of manipulator configurations for calibration experiments is optimized with respect to the proposed performance measure related to the end-effector position accuracy. Experimental results are presented that illustrate the advantages of the developed technique.

Domaines: Robotique [cs.RO]

Alexandr Klimchik, Yier Wu, Claire Dumas, Stéphane Caro, Benoît Furet, et al.. Identification of geometrical and elastostatic parameters of heavy industrial robots. 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), May 2013, Karlsruhe, Germany. pp.3707-3714, ⟨10.1109/ICRA.2013.6631098⟩. ⟨hal-00909578⟩