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.
@article{arxiv.1311.6810,
title = {Identification of geometrical and elastostatic parameters of heavy industrial robots},
author = {Alexandr Klimchik and Yier Wu and Claire Dumas and Stéphane Caro and Benoît Furet and Anatol Pashkevich},
journal= {arXiv preprint arXiv:1311.6810},
year = {2013}
}
Comments
arXiv admin note: substantial text overlap with arXiv:1311.6674