Identification of geometrical and elastostatic parameters of heavy industrial robots
This work addresses calibration accuracy for heavy industrial robots, which is an incremental improvement in robotics engineering.
The paper tackled the problem of stiffness modeling for heavy industrial robots with gravity compensators by identifying geometrical and elastostatic parameters and optimizing calibration configurations to reduce measurement errors, resulting in improved end-effector position accuracy as shown in experimental results.
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.