Simultaneous identification of kinematic screw and joint compliance of elastic robot manipulators using deflected circular trajectories

Abstract

In this paper, a new kinematic parameter calibration method is proposed for robot manipulators having elastic joints. Kinematic screw and compliance parameters are identified through the proposed calibration procedure, so that an enhanced kinematic accuracy is achieved. Traditional circular point analysis is modified to cope with new product-of-exponential (POE) kinematic model that accounts for joint deflection. Simulation result is provided to validate the proposed kinematic calibration method.