Identification of geometrical and elastostatic parameters of heavy industrial robots

TL;DR

This paper presents a method for identifying geometrical and elastostatic parameters of heavy industrial robots, optimizing calibration configurations to improve end-effector position accuracy, supported by experimental validation.

Contribution

It introduces an optimized calibration approach for stiffness modeling of heavy industrial robots considering measurement error reduction.

Findings

Optimized manipulator configurations improve calibration accuracy.

Experimental results demonstrate enhanced end-effector positioning.

The technique reduces the impact of measurement errors during calibration.

Abstract

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.