Optimal Measurement Pose Selection for Joint Stiffness Identification of an Industrial Robot Mounted on a Rail

David Guérin , Stéphane Caro (1) , Sébastien Garnier (2) , Alexis Girin

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 LS2N - Laboratoire des Sciences du Numérique de Nantes

The paper focuses on the identification of elastostatic properties of an industrial serial robot mounted on a rail. It proposes an identification procedure in order to find the optimal robot configuration to minimize the impact of measurement errors on the identification accuracy of the stiffness parameters. An experimental setup is designed to perform the identification of all stiffness parameters under industrial conditions. The proposed identification procedure is easy to use and takes little time.

Mots clés: Joints; Service robots; Rails; Robot kinematics; Machining; Optimized production technology

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

David Guérin, Stéphane Caro, Sébastien Garnier, Alexis Girin. Optimal Measurement Pose Selection for Joint Stiffness Identification of an Industrial Robot Mounted on a Rail. IEEE/ASME International Conference on Advanced Intelligent Mechatronics , Jul 2014, Besançon, France. ⟨10.1109/AIM.2014.6878332⟩. ⟨hal-01693092⟩