Robust algorithm for calibration of robotic manipulator model
dc.contributor.author
hal.structure.identifier | KLIMCHIK, Alexandr
|
dc.contributor.author
hal.structure.identifier | WU, Yier
|
dc.contributor.author
hal.structure.identifier | ABBA, Gabriel
|
dc.contributor.author
hal.structure.identifier | GARNIER, Sébastien
|
dc.contributor.author
hal.structure.identifier | FURET, Benoit
|
dc.contributor.author
hal.structure.identifier | PASHKEVICH, Anatol
|
dc.date.accessioned | 2014 |
dc.date.available | 2014 |
dc.date.issued | 2013 |
dc.date.submitted | 2014 |
dc.identifier.uri | http://hdl.handle.net/10985/8940 |
dc.description.abstract | 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. |
dc.description.sponsorship | ANR |
dc.language.iso | en |
dc.publisher | IFAC |
dc.rights | Post-print |
dc.subject | Robot calibration |
dc.subject | Robust identification |
dc.subject | Industrial robot |
dc.subject | Weighted least square |
dc.title | Robust algorithm for calibration of robotic manipulator model |
dc.identifier.doi | 10.3182/20130619-3-RU-3018.00449 |
dc.typdoc | Communication avec acte |
dc.localisation | Centre de Metz |
dc.subject.hal | Informatique: Robotique |
ensam.audience | Internationale |
ensam.conference.title | The IFAC Conference on Manufacturing Modeling, Management and Control (MIM 2013) |
ensam.conference.date | 2013-06 |
ensam.country | Russian Federation |
ensam.title.proceeding | Proceedings of the IFAC Conference on Manufacturing Modeling, Management and Control (MIM 2013) |
ensam.page | 838-842 |
ensam.volume | 7 |
ensam.issue | Part. 1 |
ensam.city | Saint Petersburg |
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hal.submission.permitted | True |
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