Robust algorithm for calibration of robotic manipulator model

Alexandr Klimchik (1, 2) , Yier Wu (1, 2) , Gabriel Abba (3) , Benoît Furet (4) , Anatol Pashkevich (1, 2)

1 Mines Nantes - Mines Nantes
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
3 LCFC - Laboratoire de Conception Fabrication Commande
4 Modélisation et Optimisation de Process de Production (MO2P)

The paper focuses on the robust identification of geometrical and elastostatic parameters of robotic manipulator. The main attention is paid to the efficiency improvement of the identification algorithm. To increase the identification accuracy, it is proposed to apply the weighted least square technique that employs a new algorithm for assigning of the weighting coefficients. The latter allows taking into account variation of the measurement system precision in different directions and throughout the robot workspace. The advantages of the proposed approach are illustrated by an application example that deals with the elasto-static calibration of industrial robot.

Domaines: Robotique [cs.RO]

Alexandr Klimchik, Yier Wu, Gabriel Abba, Benoît Furet, Anatol Pashkevich. Robust algorithm for calibration of robotic manipulator model. The IFAC Conference on Manufacturing Modeling, Management and Control (MIM 2013), Jun 2013, Saint Petersburg, Russia. pp.838-842. ⟨hal-00909516⟩