Design of Calibration Experiments for Identification of Manipulator Elastostatic Parameters

作     者：Alexandr Klimchik Anatol Pashkevichl Yier Wu Stephane Caro Benoit Furet 

作者机构：Ecole des mines de Nantes Nantes 44300 France Research Institute of Communications and Cybernetics of Nantes (1RCCyN) Nantes 44300 France National Centre for Scientific Research (CNRS) Paris 75016 France Department of Mechanical Engineering and Manufacturing University of Nantes Carquefou 44475 France 

出 版 物：《Journal of Mechanics Engineering and Automation》 (机械工程与自动化（英文版）)

年 卷 期：2012年第2卷第9期

页      码：531-542页

摘      要：The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.

主 题 词：Industrial robot elastostatic calibration experiment design industry-oriented performance measure test-pose basedapproach. 

学科分类：08[工学] 0802[工学-机械学] 080201[080201] 080102[080102] 0801[工学-力学类] 

馆 藏 号：203673460...