Optimization of Measurement Configurations for Geometrical Calibration of Industrial Robot

Abstract

Abstract. The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, the calibration experiment quality is evaluated using a concept of the user-defined test-pose. In the frame of this concept, the related optimization problem is formulated and numerical routines are developed, which allow user to generate optimal set of manipulator configurations for a given number of calibration experiments. The efficiency of the developed technique is illustrated by several examples.

Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments

“…In addition, using this approach, it is possible to find a balance between the accuracy of different geometrical parameters whose influence on the final robot accuracy is unequal. Another example confirming this conclusion is presented in our previous work [57].…”

Measurement of Industrial Robot Trajectories With Reorientations

“…positions and orientations of the robots end effector, within the workspace to calculate the parameters of the kinematic model of the robot. Recent developments are focusing on different aspects of the calibration as adaptation of the mathematic modeling (Nubiola & Bonev, 2013) or optimization of the measurement configurations (Klimchik, Pashkevich, Wu, Furet, & Caro, 2012). These calibration techniques are based on static measurement of robot positions.…”