Optimality Criteria for Measurement Poses Selection in Calibration of Robot Stiffness Parameters

The paper focuses on the accuracy improvement of industrial robots by means of elasto-static parameters calibrat ion. It proposes a new optimality criterion for measurement pose selection in calibration of robot stiffness parameters. Th is criterion is based on the concept of the manipulator test pos e that is defined by the user via the joint angles and the externa l force. The proposed approach essentially differs from the t raditional ones and ensures the best compliance error compensat ion for the test configuration. The advantages of this approach and its suitability for practical applications are illustr ated by numerical examples, which deal with calibration of elasto- static parameters of planar manipulator with rigid links and compl iant actuated joints.

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