Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators

Klimchik, Alexandr; Wu, Yier; Pashkevich, Anatol; Caro, Stéphane; Furet, Benoît

doi:10.4028/www.scientific.net/amm.162.161

Cited by 38 publications

(23 citation statements)

References 27 publications

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“…According to the robot model, Klimchik [4] compensate the robot by all the kinematic parameters. Therefore, these models can use in the laboratary,it can not modify in the working space because to it must modify the controller of the robot.…”

Section: Compensation Of the Kinematics Parameters Errormentioning

confidence: 99%

Compensation of kinematic geometric parameters error and comparative study of accuracy testing for robot

Shi

Guan

et al. 2014

SPIE Proceedings

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Geometric error is the main error of the industrial robot, and it plays a more significantly important fact than other error facts for robot. The compensation model of kinematic error is proposed in this article. Many methods can be used to test the robot accuracy, therefore, how to compare which method is better one. In this article, a method is used to compare two methods for robot accuracy testing. It used Laser Tracker System (LTS) and Three Coordinate Measuring instrument (TCM) to test the robot accuracy according to standard. According to the compensation result, it gets the better method which can improve the robot accuracy apparently.

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Section: Compensation Of the Kinematics Parameters Errormentioning

confidence: 99%

Compensation of kinematic geometric parameters error and comparative study of accuracy testing for robot

Shi

Guan

et al. 2014

SPIE Proceedings

View full text Add to dashboard Cite

show abstract

“…Based on this performance measure, the calibration experiments design can be reduced to the following optimization problem , while the Jacobian matrix J p 0 ( ) π corresponding the test-pose q 0 defines the weighting coefficients. It is worth mentioning that test-pose based approach can be also extended for calibration of the manipulator elasto-static parameters (see [55], for more details). The advantages of the proposed approach will be illustrated in the following subsections.…”

Section: Test-pose Based Approach For Calibration Experiments Designmentioning

confidence: 99%

Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments

Klimchik

Caro

et al. 2015

Robotics and Computer-Integrated Manufacturing

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154

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Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments. Robotics and Computer-Integrated Manufacturing, Elsevier, 2015, 35, pp.151-168 The paper deals with geometric calibration of industrial robots and focuses on reduction of the mea-surement noise impact by means of proper selection of the manipulator configurations in calibration experiments. Particular attention is paid to the enhancement of measurement and optimization techniques employed in geometric parameter identification. The developed method implements a complete and irreducible geometric model for serial manipulator, which takes into account different sources of errors (link lengths, joint offsets, etc). In contrast to other works, a new industry-oriented performance measure is proposed for optimal measurement configuration selection that improves the existing techniques via using the direct measurement data only. This new approach is aimed at finding the ca-libration configurations that ensure the best robot positioning accuracy after geometric error compen-sation. Experimental study of heavy industrial robot KUKA KR-270 illustrates the benefits of the devel-oped pose strategy technique and the corresponding accuracy improvement.

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“…The second step deals with the identification of the gravity compensator parameters and compliance of joint #2 that can be obtained from the following equation ensure high calibration efficiency, the design of experiments should be considered while choosing measurement configurations. To the best of our knowledge, the best results for particular industrial applications can be achieved by using the test-pose based approach(Klimchik et al 2012b), which reduces optimal pose selection to the following optimization problem: structure as matrix () p i A , but is defined by the desired test pose configuration 0 q and the external loading 0 F . The values of 0 q , 0…”

mentioning

confidence: 99%

Accuracy Improvement of Robot-Based Milling Using an Enhanced Manipulator Model

Klimchik¹,

Wu²,

Caro³

et al. 2014

Advances on Theory and Practice of Robots and Manipulators

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The paper is devoted to the accuracy improvement of robot-based milling by using an enhanced manipulator model that takes into account both geometric and elastostatic factors. Particular attention is paid to the model parameters identification accuracy. In contrast to other works, the proposed approach takes into account impact of the gravity compensator and link weights on the manipulator elastostatic properties. In order to improve the identification accuracy, the industry oriented performance measure is used to define optimal measurement configurations and an enhanced partial pose measurement method is applied for the identification of the model parameters. The advantages of the developed approach are confirmed by experimental results that deal with the elastostatic calibration of a heavy industrial robot used for milling. The achieved accuracy improvement factor is about 2.4.

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Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators

Cited by 38 publications

References 27 publications

Compensation of kinematic geometric parameters error and comparative study of accuracy testing for robot

Compensation of kinematic geometric parameters error and comparative study of accuracy testing for robot

Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments

Accuracy Improvement of Robot-Based Milling Using an Enhanced Manipulator Model

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