産業用ロボットの幾何キャリブレーションにおける計測姿勢の最適化
Optimization of measurement configurations for geometrical calibration of industrial robot
非線形実験計画法に基づき、ユーザー定義のテスト姿勢を基準として産業用ロボットの幾何パラメータ同定に最適な計測姿勢セットを生成する手法を提案した論文。
著者: Alexandr Klimchik, Anatol Pashkevich, Yier Wu, Benoît Furet, Stéphane Caro
分類: cs.RO
原文アブストラクト
The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, the calibration experiment quality is evaluated using a concept of the user-defined test-pose. In the frame of this concept, the related optimization problem is formulated and numerical routines are developed, which allow user to generate optimal set of manipulator configurations for a given number of calibration experiments. The efficiency of the developed technique is illustrated by several examples.
