ロボットマニピュレータのロバストなキャリブレーションアルゴリズム
Robust algorithm for calibration of robotic manipulator model
産業用ロボットの幾何・弾性静的パラメータ同定において、測定精度の方向・作業空間依存性を考慮した新しい重み付け最小二乗法を提案し、同定精度を向上させた。
著者: Alexandr Klimchik, Yier Wu, Gabriel ABBA, Benoît Furet, Anatol Pashkevich
分類: cs.RO
原文アブストラクト
The paper focuses on the robust identification of geometrical and elastostatic parameters of robotic manipulator. The main attention is paid to the efficiency improvement of the identification algorithm. To increase the identification accuracy, it is proposed to apply the weighted least square technique that employs a new algorithm for assigning of the weighting coefficients. The latter allows taking into account variation of the measurement system precision in different directions and throughout the robot workspace. The advantages of the proposed approach are illustrated by an application example that deals with the elasto-static calibration of industrial robot.
