人間型マニピュレータの剛性モデル校正のための最適な計測姿勢選択
Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators
人間型ロボットの弾性静パラメータ校正において、テスト姿勢の概念に基づき校正効率を高める最適な計測姿勢選択戦略を提案し、3自由度マニピュレータの数値例で有効性を示した。
著者: Alexandr Klimchik, Yier Wu, Anatol Pashkevich, Stéphane Caro, Benoît Furet
分類: cs.RO
原文アブストラクト
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot calibration. This strategy is based on the concept of the robot test-pose and ensures the best compliance error compensation for the test configuration. The advantages of the proposed approach and its suitability for practical applications are illustrated by numerical examples, which deal with calibration of elastostatic parameters of a 3 degrees of freedom anthropomorphic manipulator with rigid links and compliant actuated joints
