Optimal Measurement Pose Selection for Joint Stiffness Identification of an Industrial Robot Mounted on a Rail

被引：0
|
作者：
Guerin, David [1 ]
Caro, Stephane [2 ]
Garnier, Sebastien [2 ]
Girin, Alexis [1 ]
机构：
[1] IRT Jules Verne, Robot Team, Chemin Chaffault, F-44340 Bouguenais, France
[2] Inst Rech Commun & Cybernet Nantes, CNRS, UMR 6597, F-44321 Nantes, France
来源：
2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2014年
关键词：
MEASUREMENT CONFIGURATIONS; CALIBRATION;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The paper focuses on the identification of elastostatic properties of an industrial serial robot mounted on a rail. It proposes an identification procedure in order to find the optimal robot configuration to minimize the impact of measurement errors on the identification accuracy of the stiffness parameters. An experimental setup is designed to perform the identification of all stiffness parameters under industrial conditions. The proposed identification procedure is easy to use and takes little time.
引用
收藏
页码：1722 / 1727
页数：6
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