https://sam.ensam.eu:443 The DSpace digital repository system captures, stores, indexes, preserves, and distributes digital research material. Fri, 15 May 2026 22:53:33 GMT 2026-05-15T22:53:33Z http://hdl.handle.net/10985/9080 Tools for the identification of robot stiffness parameters using CAD software KLIMCHIK, Alexandr; PASHKEVICH, Anatol This report proposes a CAD-based approach for identification of the elasto-static parameters of the robotic manipulators. The main contributions are in the areas of virtual experiment planning and algorithmic data processing, which allows to obtain the stiffness matrix with required accuracy. In contrast to previous works, the developed technique operates with the deflection field produced by virtual experiments in a CAD environment. The proposed approach provides high identification accuracy (about 0.1% for the stiffness matrix element) and is able to take into account the real shape of the link, coupling between rotational/translational deflections and joint particularities. To compute the stiffness matrix, the numerical technique has been developed, and some recommendations for optimal settings of the virtual experiments are given. In order to minimize the identification errors, the statistical data processing technique was applied. The advantages of the developed approach have been confirmed by case studies dealing with the links of parallel manipulator of the Orthoglide family, for which the identification errors have been reduced to 0.1% Sun, 01 Jan 2012 00:00:00 GMT http://hdl.handle.net/10985/9080 2012-01-01T00:00:00Z KLIMCHIK, Alexandr PASHKEVICH, Anatol This report proposes a CAD-based approach for identification of the elasto-static parameters of the robotic manipulators. The main contributions are in the areas of virtual experiment planning and algorithmic data processing, which allows to obtain the stiffness matrix with required accuracy. In contrast to previous works, the developed technique operates with the deflection field produced by virtual experiments in a CAD environment. The proposed approach provides high identification accuracy (about 0.1% for the stiffness matrix element) and is able to take into account the real shape of the link, coupling between rotational/translational deflections and joint particularities. To compute the stiffness matrix, the numerical technique has been developed, and some recommendations for optimal settings of the virtual experiments are given. In order to minimize the identification errors, the statistical data processing technique was applied. The advantages of the developed approach have been confirmed by case studies dealing with the links of parallel manipulator of the Orthoglide family, for which the identification errors have been reduced to 0.1% http://hdl.handle.net/10985/9082 Model of dynamic interactions KLIMCHIK, Alexandr; PASHKEVICH, Anatol; CARO, Stéphane In robotic-based machining, an interaction between the workpiece and technological tool causes essential deflections that significantly decrease the manufacturing accuracy. Relevant compliance errors highly depend on the manipulator configuration and essentially differ throughout the workspace. Their influence is especially important for heavy serial robots. To overcome this difficulty this report presents a new technique for compensation of the compliance errors caused by technological process. In contrast to previous works, this technique is based on the non-linear stiffness model and the reduced elasto-dynamic model of the robotic based milling process. The advantages and practical significance of the proposed approach are illustrated by milling with of KUKA KR270. It is shown that after error compensation technique significantly increase the accuracy of milling. Tue, 01 Jan 2013 00:00:00 GMT http://hdl.handle.net/10985/9082 2013-01-01T00:00:00Z KLIMCHIK, Alexandr PASHKEVICH, Anatol CARO, Stéphane In robotic-based machining, an interaction between the workpiece and technological tool causes essential deflections that significantly decrease the manufacturing accuracy. Relevant compliance errors highly depend on the manipulator configuration and essentially differ throughout the workspace. Their influence is especially important for heavy serial robots. To overcome this difficulty this report presents a new technique for compensation of the compliance errors caused by technological process. In contrast to previous works, this technique is based on the non-linear stiffness model and the reduced elasto-dynamic model of the robotic based milling process. The advantages and practical significance of the proposed approach are illustrated by milling with of KUKA KR270. It is shown that after error compensation technique significantly increase the accuracy of milling. http://hdl.handle.net/10985/9074 Robot comparison based on local and global indices proposed and related to FSW welding and machining CARO, Stéphane; PASHKEVICH, Anatol; ABBA, Gabriel This deliverable deals with the comparison of robots as a function of local and global indices related to machining operations of metallic and composite parts and friction stir welding. Some typical industrial operations are first presented. Then, some local and global performances indices are to machining operations of metallic and composite parts and friction stir welding are presented. A new method for the stiffness modeling of serial and parallel manipulators is also introduced. As a matter of fact, some performance indices depend on the stiffness of the manipulator under study. Finally, the proposed technique is illustrated by means of the comparison of three degrees of freedom translational manipulators. Wed, 01 Jan 2014 00:00:00 GMT http://hdl.handle.net/10985/9074 2014-01-01T00:00:00Z CARO, Stéphane PASHKEVICH, Anatol ABBA, Gabriel This deliverable deals with the comparison of robots as a function of local and global indices related to machining operations of metallic and composite parts and friction stir welding. Some typical industrial operations are first presented. Then, some local and global performances indices are to machining operations of metallic and composite parts and friction stir welding are presented. A new method for the stiffness modeling of serial and parallel manipulators is also introduced. As a matter of fact, some performance indices depend on the stiffness of the manipulator under study. Finally, the proposed technique is illustrated by means of the comparison of three degrees of freedom translational manipulators. http://hdl.handle.net/10985/9078 Simulation results using a robot with flexibilities for machining and welding; Résultats en simulation de l’utilisation d’un robot avec flexibilités pour l’usinage et le soudage KLIMCHIK, Alexandr; PASHKEVICH, Anatol; GARNIER, Sébastien; CARO, Stéphane; LEONARD, François; ABBA, Gabriel; QIN, Jinna The objective of this report is to detail the models used in simulation and the results obtained in simulation for both machining and FSW process. This report contains in a first part the details of modeling flexibilities of serial robots primarily through a model of localized flexibilities. The flexibilities are expressed both in Cartesian space and in the joint space and taking into account possible couplings. The second part deals with the dynamic model used in the simulator and the simulation environment. A significant work was to also model the company Kuka robot controller. Machining processes and FSW are modeled by simple models but reflecting the reality of the behavior.; L’objectif de ce rapport est de détailler les modèles utilisés en simulation et les résultats obtenus en simulation aussi bien pour le procédé d’usinage que pour le procédé FSW. Ce rapport contient donc dans une première partie les détails sur la modélisation des flexibilités des robots essentiellement par le biais d’un modèle de flexibilités localisées. Les flexibilités sont exprimées aussi bien dans l’espace cartésien des robots que dans l’espace articulaire et en tenant compte des éventuels couplages. Une seconde partie traite du modèle dynamique utilisé dans le simulateur et de l’environnement de simulation. Un travail non négligeable a été de modéliser également le contrôleur de robot de l’entreprise Kuka. Les procédés d’usinage et de soudage FSW sont modélisés par des modèles simples mais traduisant bien la réalité du comportement. Wed, 01 Jan 2014 00:00:00 GMT http://hdl.handle.net/10985/9078 2014-01-01T00:00:00Z KLIMCHIK, Alexandr PASHKEVICH, Anatol GARNIER, Sébastien CARO, Stéphane LEONARD, François ABBA, Gabriel QIN, Jinna The objective of this report is to detail the models used in simulation and the results obtained in simulation for both machining and FSW process. This report contains in a first part the details of modeling flexibilities of serial robots primarily through a model of localized flexibilities. The flexibilities are expressed both in Cartesian space and in the joint space and taking into account possible couplings. The second part deals with the dynamic model used in the simulator and the simulation environment. A significant work was to also model the company Kuka robot controller. Machining processes and FSW are modeled by simple models but reflecting the reality of the behavior. L’objectif de ce rapport est de détailler les modèles utilisés en simulation et les résultats obtenus en simulation aussi bien pour le procédé d’usinage que pour le procédé FSW. Ce rapport contient donc dans une première partie les détails sur la modélisation des flexibilités des robots essentiellement par le biais d’un modèle de flexibilités localisées. Les flexibilités sont exprimées aussi bien dans l’espace cartésien des robots que dans l’espace articulaire et en tenant compte des éventuels couplages. Une seconde partie traite du modèle dynamique utilisé dans le simulateur et de l’environnement de simulation. Un travail non négligeable a été de modéliser également le contrôleur de robot de l’entreprise Kuka. Les procédés d’usinage et de soudage FSW sont modélisés par des modèles simples mais traduisant bien la réalité du comportement. http://hdl.handle.net/10985/8940 Robust algorithm for calibration of robotic manipulator model KLIMCHIK, Alexandr; WU, Yier; ABBA, Gabriel; GARNIER, Sébastien; FURET, Benoit; PASHKEVICH, Anatol 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. Tue, 01 Jan 2013 00:00:00 GMT http://hdl.handle.net/10985/8940 2013-01-01T00:00:00Z KLIMCHIK, Alexandr WU, Yier ABBA, Gabriel GARNIER, Sébastien FURET, Benoit PASHKEVICH, Anatol 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. http://hdl.handle.net/10985/9081 Elastic and elasto-dynamic models of robot manipulators KLIMCHIK, Alexandr; PASHKEVICH, Anatol The report presents an advanced stiffness modeling technique for parallel manipulators composed of perfect and non-perfect serial chains. The developed technique contributes both to the stiffness modeling of serial and parallel manipulators under internal and external loadings. Particular attention has been done to enhancement of VJM-based stiffness modeling technique for the case of auxiliary loading (applied to the intermediate points). The obtained results allows us to take into account gravity forces induced by the link weights which are assumed to be applied in the intermediate points. In contrast to other works, the developed technique is able to take into account deviation of the end-platform location because of inaccuracy in the geometry of serial chains, which does not allow to assemble manipulator without internal stresses. The developed aggregation procedure combines the chain stiffness models and produces the relevant force-deflection relation, the aggregated Cartesian stiffness matrix and the reference point displacements caused by inaccuracy in kinematic chains. The developed technique can be applied to both over-constrained and under-constrained manipulators, and is suitable for the cases of both small and large deflections. Sun, 01 Jan 2012 00:00:00 GMT http://hdl.handle.net/10985/9081 2012-01-01T00:00:00Z KLIMCHIK, Alexandr PASHKEVICH, Anatol The report presents an advanced stiffness modeling technique for parallel manipulators composed of perfect and non-perfect serial chains. The developed technique contributes both to the stiffness modeling of serial and parallel manipulators under internal and external loadings. Particular attention has been done to enhancement of VJM-based stiffness modeling technique for the case of auxiliary loading (applied to the intermediate points). The obtained results allows us to take into account gravity forces induced by the link weights which are assumed to be applied in the intermediate points. In contrast to other works, the developed technique is able to take into account deviation of the end-platform location because of inaccuracy in the geometry of serial chains, which does not allow to assemble manipulator without internal stresses. The developed aggregation procedure combines the chain stiffness models and produces the relevant force-deflection relation, the aggregated Cartesian stiffness matrix and the reference point displacements caused by inaccuracy in kinematic chains. The developed technique can be applied to both over-constrained and under-constrained manipulators, and is suitable for the cases of both small and large deflections.