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Authors: Alexandr Klimchik 1 ; Stephane Caro 2 ; Benoit Furet 3 and Anatol Pashkevich 1

Affiliations: 1 Ecole des Mines de Nantes and Institut de Recherches en Communications et Cybernétique de Nantes, France ; 2 Institut de Recherches en Communications et en Cybernetique de Nantes and Centre National de la Recherche Scientifique (CNRS), France ; 3 Institut de Recherches en Communications et Cybernétique de Nantes and Université de Nantes, France

ISBN: 978-989-758-040-6

Keyword(s): Robot Calibration, Elastostatic Identification, Stiffness Modeling, Parameter Identifiability.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: The paper addresses a problem of robotic manipulator calibration. The main contributions are in the area of the elastostatic parameters identification. In contrast to other works, the considered approach takes into account elastic properties of both links and joint. Particular attention is paid to generation of the complete and irreducible stiffness model that is suitable for the identification. To solve the problem, physical and algebraic model reduction methods are proposed. They are based on taking into account the physical properties of the manipulator elements and structure of the corresponding observation matrix. The advantages of the developed approach are illustrated by an application example that deals with elastostatic calibration of an industrial robot.

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Paper citation in several formats:
Klimchik, A.; Caro, S.; Furet, B. and Pashkevich, A. (2014). Complete Stiffness Model for a Serial Robot.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-040-6, pages 192-202. DOI: 10.5220/0005098701920202

@conference{icinco14,
author={Alexandr Klimchik. and Stephane Caro. and Benoit Furet. and Anatol Pashkevich.},
title={Complete Stiffness Model for a Serial Robot},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={192-202},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005098701920202},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Complete Stiffness Model for a Serial Robot
SN - 978-989-758-040-6
AU - Klimchik, A.
AU - Caro, S.
AU - Furet, B.
AU - Pashkevich, A.
PY - 2014
SP - 192
EP - 202
DO - 10.5220/0005098701920202

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