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Communication Dans Un Congrès Année : 2017

Calibration of Industrial Robots with Pneumatic Gravity Compensators

Résumé

The paper is devoted to the stiffness modeling of heavy industrial robots with pneumatic gravity compensators. The main attention is paid to the identification of elastostatic parameters and calibration accuracy. To reduce impact of the measurement errors, the set of manipulator configurations for calibration experiments is optimized with respect to the proposed performance measure related to the end-effector position accuracy. Advantages of the developed technique are illustrated by dedicated experimental study.
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Dates et versions

hal-01757907 , version 1 (04-04-2018)

Identifiants

Citer

Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro, Benoît Furet. Calibration of Industrial Robots with Pneumatic Gravity Compensators. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2017, Munich, Germany. ⟨10.1109/AIM.2017.8014031⟩. ⟨hal-01757907⟩
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