KFU. Card publication. Design of experiments for elastostatic calibration of heavy industrial robots with kinematic parallelogram and gravity compensator

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DESIGN OF EXPERIMENTS FOR ELASTOSTATIC CALIBRATION OF HEAVY INDUSTRIAL ROBOTS WITH KINEMATIC PARALLELOGRAM AND GRAVITY COMPENSATOR

Form of presentation

Articles in international journals and collections

Year of publication

2016

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Klimchik A. Design of experiments for elastostatic calibration of heavy industrial robots with kinematic parallelogram and gravity compensator / Magid E., Pashkevich A. // IFAC-PapersOnLine. - 2016. - �49 (12). - p. 967-972.

Annotation

Proceedings of the 8-th IFAC Conference on Manufacturing Modelling, Management and Control (MIM 2016)

Keywords

industrial robot; stiffness modeling; calibration; gravity compensator; design of experiments

The name of the journal

Proceedings of the 8-th IFAC Conference on Manufacturing Modelling, Management and Control (MIM 2016)

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=149764&p_lang=2

Resource files

File name	Size (MB)	Format
2016__Design_of_experiments_for_elastostatic_calibration_of_heavy_industrial_robots.pdf	0,83	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2016-01-01T00:00:00Z	ru_RU
dc.date.available	2016-01-01T00:00:00Z	ru_RU
dc.date.issued	2016	ru_RU
dc.identifier.citation	Klimchik A. Design of experiments for elastostatic calibration of heavy industrial robots with kinematic parallelogram and gravity compensator / Magid E., Pashkevich A. // IFAC-PapersOnLine. - 2016. - �49 (12). - p. 967-972.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=149764&p_lang=2	ru_RU
dc.description.abstract	Proceedings of the 8-th IFAC Conference on Manufacturing Modelling, Management and Control (MIM 2016)	ru_RU
dc.description.abstract	The paper deals with elastostatic calibration of quasi-serial heavy robots with kinematic parallelograms and gravity compensators. Particular attention is paid to the selection of optimal measurement configurations allowing to reduce the measurement noise impact on the identification accuracy. For these types of manipulators, the identification equations are highly non-linear with respect to the parameters to be calibrated. For this specific architecture, a two-steps identification procedure is developed and a new technique of the calibration experiment design is proposed, which allows improving the identification accuracy without increasing the number of measurements. The developed technique is illustrated by an application example that deals with a typical heavy quasi-serial industrial robot.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject		ru_RU
dc.title	Design of experiments for elastostatic calibration of heavy industrial robots with kinematic parallelogram and gravity compensator	ru_RU
dc.type	Articles in international journals and collections	ru_RU