Elasto-geometrical modeling and calibration of robot manipulators: Application to machining and forming applications

Stéphane Marie (1) , Eric Courteille (1) , Patrick Maurine (1)

1 LGCGM - Laboratoire de Génie Civil et Génie Mécanique

This paper proposes an original elasto-geometrical calibration method to improve the static pose accuracy of industrial robots involved in machining, forming or assembly applications. Two approaches are presented respectively based on an analytical parametric modeling and a Takagi-Sugeno fuzzy inference system. These are described and then discussed. This allows to list the main drawbacks and advantages of each of them with respect to the task and the user requirements. The Fuzzy Logic model is used in a model-based compensation scheme to increase significantly the robot static pose accuracy in a context of incremental forming application. Experimental results show the efficiency of the Fuzzy Logic model while minimizing development and computational resources.

Mots clés: Robot calibration; Stiffness identification; Fuzzy logic modeling; Data-driven identification; Forming applications

Domaines: Mécanique [physics.med-ph]

Stéphane Marie, Eric Courteille, Patrick Maurine. Elasto-geometrical modeling and calibration of robot manipulators: Application to machining and forming applications. Mechanism and Machine Theory, 2013, 69, pp.13-43. ⟨10.1016/j.mechmachtheory.2013.05.00⟩. ⟨hal-00917604⟩