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.

摘要：针对三维场景建模缺乏领域含义的问题,提出一种基于语义的三维场景概念关系建模方法。该方法提出一种基于语义的三维场景模型,并结合约束设计和元素间关系的语义描述方法,来阐述如何丰富三维场景的领域含义。最后结合原型系统和实例对该方法进行了可行性和合理性的验证。