産業応用向けロボットキャリブレーション実験設計の性能指標
Industry-oriented Performance Measures for Design of Robot Calibration Experiment
産業用ロボットの幾何・弾性静力学キャリブレーション精度向上のため、作業対象位置や加工力に応じた最適測定姿勢を選定できる産業志向の性能指標を提案した論文。
著者: Yier Wu, Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro, Benoît Furet
分類: cs.RO
原文アブストラクト
The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of manipulator test-pose and referred to the end-effector location accuracy after application of the error compensation algorithm, which implements the identified parameters. This approach allows the users to define optimal measurement configurations for robot calibration for given work piece location and machining forces/torques. These performance measures are suitable for comparing the calibration plans for both simple and complex trajectories to be performed. The advantages of the developed techniques are illustrated by an example that deals with machining using robotic manipulator.
