Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators

Abstract

International audienc

Geometric and Stiffness Modeling and Design of Calibration Experiments for the 7 dof Serial Manipulator KUKA iiwa 14 R820

“…The project present the elastostatic modeling and the design of calibration experiment for the spatial anthropomorphic manipulator KUKA iiwa 14 R820, first, for the stiffness modeling we used two approaches to build the cartesian stiffness matrix namely VJM and MSA modeling, then for the calibration, using wise decomposition of the manipulator structure into two planar serial sub-chains, and the properties depicted in [1], we were able to build 16 measurements configurations describing the optimal pose The complete and irreducible model of the robot was established to perform the calibration simulation, the latter showed clear improvement in the parameters identification with the optimal plan obtained which confirms the efficiency of the approach used.…”

“…In contrast to previous works for calibration the proposed in [1] yields simple geometrical patterns that allow users to take into account the joint and workspace constraints and to find measurement configurations without tedious computations. The main theoretical results are expressed as a set of several properties and rules, which allow user to obtain optimal measurement configurations without any computation, just using superpositions and permutations of the proposed patterns.…”

“…In the following we are going to introduce some important properties of the optimality condition 29 that allow us to reduce the problem complexity [1] 1. Superposition of optimal plans also gives an optimal plan for this ; this is due to the additivity of the the operations included in 29.Using this property , it is possible to generate optimal plan with a large number of measurements configurations using simple sets.…”

“…The present project deals with the elastostatic modeling and calibration experiment of spacial industrial manipulators using optimal selection of measurements pose [1], for the calibration procedure, the optimal pose selection aims to the efficiency improvement of identification procedure for serial manipulators which reduces noise impact on the parameters identification precision, it is usually used for planar manipulators, our work is mainly to extend the approach for a more complicated manipulator in 3D space using a wise decomposition of the spacial manipulator into a set of serial sub-chains [2], the optimal pose configuration is then used in the calibration procedure using the complete and irreducible model for the 7 dof serial manipulator [3]. The methodology is illustrated with the anthropomorphic industrial robot KUKA iiwa14 R820 for which, we performed the calibration and constructed the stiffness modeling using two different approaches namely VJM (Virtual Joint Modeling) and MSA (Matrix Structural Analysis).…”