Identification of geometrical and elastostatic parameters of heavy industrial robots

摘要

The paper focuses on the stiffness modeling of heavy industrial robots with\ngravity compensators. The main attention is paid to the identification of\ngeometrical and elastostatic parameters and calibration accuracy. To reduce\nimpact of the measurement errors, the set of manipulator configurations for\ncalibration experiments is optimized with respect to the proposed performance\nmeasure related to the end-effector position accuracy. Experimental results are\npresented that illustrate the advantages of the developed technique.\n