Efficiency Improvement of Measurement Pose Selection Techniques in Robot Calibration

The paper deals with the design of experiments for manipulator geometric and elastostatic calibration based on the test-pose approach. The main attention is paid to the efficiency improvement of numerical techniques employed in the selection of optimal measurement poses for calibration experiments. The advantages of the developed technique are illustrated by simulation examples that deal with the geometric calibration of the industrial robot of serial architecture.

Domaines

Robotique [cs.RO]

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MIM2013_paper180_final_submission.pdf (240.64 Ko)

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Alexandr Klimchik : Connectez-vous pour contacter le contributeur

https://hal.science/hal-00909513

Soumis le : mardi 26 novembre 2013-13:33:18

Dernière modification le : mardi 17 septembre 2024-15:56:16

Archivage à long terme le : jeudi 27 février 2014-09:40:39

Dates et versions

hal-00909513 , version 1 (26-11-2013)

Identifiants

HAL Id : hal-00909513 , version 1
ARXIV : 1311.6658

Citer

Yier Wu, Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro, Benoît Furet. Efficiency Improvement of Measurement Pose Selection Techniques in Robot Calibration. The IFAC Conference on Manufacturing Modeling, Management and Control (MIM 2013), Jun 2013, Saint Petersburg, Russia. pp.832-837. ⟨hal-00909513⟩

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