Robust algorithm for calibration of robotic manipulator model
TypeCommunications avec actes
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.
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KLIMCHIK, Alexandr; PASHKEVICH, Anatol; GARNIER, Sébastien; CARO, Stéphane; LEONARD, François; ABBA, Gabriel; QIN, Jinna (ABBA Gabriel, 2014)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 ...
GARNIER, Sébastien; FURET, Benoît; ZIMMER-CHEVRET, Sandra; LANGLOIS, Laurent; ABBA, Gabriel; JEMAL, Nejah (ABBA Gabriel, 2014)Ce rapport contient la définition des pièces d’essais utilisées pour la validation des tâches, d’une part en soudage FSW et d’autre part en usinage, qu’il soit de pièces aluminium ou de pièces en matériaux composites. La ...
KLIMCHIK, Alexandr; PASHKEVICH, Anatol; CARO, Stéphane (ABBA Gabriel, 2013)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 ...
KLIMCHIK, Alexandr; PASHKEVICH, Anatol (ABBA Gabriel, 2012)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 ...
KLIMCHIK, Alexandr; PASHKEVICH, Anatol (ABBA Gabriel, 2012)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, ...