Experimental study on geometric and elastostatic calibration of industrial robot for milling application

The paper is devoted to geometric and elastostatic calibration of industrial robot for milling application. Particular attention is paid to the analysis of the experimental results and enhancement identification routines. In contrast to other works, the identification results have been validated using separate set of measurements that were not used in calibration. The obtained geometric and elastostatic models essentially improve robot positioning accuracy in milling applications.

[1]  Zvi S. Roth,et al.  Fundamentals of Manipulator Calibration , 1991 .

[2]  Henry W. Stone,et al.  Kinematic Modeling, Identification, and Control of Robotic Manipulators , 1987 .

[3]  Chia-Hsiang Menq,et al.  Determination of Optimal Measurement Configurations for Robot Calibration Based on Observability Measure , 1991, Int. J. Robotics Res..

[4]  I. Bonev,et al.  Kinematic calibration of a five-bar planar parallel robot using all working modes , 2013 .

[5]  Anatoly Pashkevich,et al.  Identification of geometrical and elastostatic parameters of heavy industrial robots , 2013, 2013 IEEE International Conference on Robotics and Automation.

[6]  Anatoly Pashkevich,et al.  Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators , 2012, ArXiv.

[7]  J. Suykens,et al.  An absolute stability criterion for the Lur'e problem with sector and slope restricted nonlinearities , 1998 .

[8]  Claire Dumas.  Développement de méthodes robotisées pour le parachèvement de pièces métalliques et composites , 2011 .

[9]  M. Vukobratovic,et al.  Contribution to Solving Dynamic Robot Control in Machining Process * , .

[10]  Anatoly Pashkevich,et al.  Advanced robot calibration using partial pose measurements , 2013, 2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR).

[11]  Bahram Ravani,et al.  An overview of robot calibration , 1987, IEEE Journal on Robotics and Automation.

[12]  Bijan Shirinzadeh,et al.  Enhanced stiffness modeling, identification and characterization for robot manipulators , 2005, IEEE Transactions on Robotics.

[13]  David Daney,et al.  Choosing Measurement Poses for Robot Calibration with the Local Convergence Method and Tabu Search , 2005, Int. J. Robotics Res..

[14]  Ilian A. Bonev,et al.  Absolute calibration of an ABB IRB 1600 robot using a laser tracker , 2013 .

[15]  Wisama Khalil,et al.  Identifiable Parameters and Optimum Configurations for Robots Calibration , 1991, Robotica.

[16]  Luo Fei,et al.  An Overview of Robot Calibration , 2004 .

[17]  John M. Hollerbach,et al.  A survey of kinematic calibration , 1989 .

[18]  Anatoly Pashkevich,et al.  Design of experiments for calibration of planar anthropomorphic manipulators , 2011, 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

[19]  Wisama Khalil,et al.  Model Identification , 2019, Springer Handbook of Robotics, 2nd Ed..