The paper addresses a problem of robotic manipulator calibration in real industrial environment. Particular attention is paid to the practical identifiability of the model parameters, which completely differs from the theoretical one that relies on the rank of the observation matrix only, without taking into account essential differences in the model parameter magnitudes and the measurement noise impact. To solve the problem, several model reductionmethods are proposed. The advantages of the developed approach are illustrated by an application example that deals with the geometric calibration of an industrial robot used in aerospace industry.
CITATION STYLE
Klimchik, A., Caro, S., Furet, B., & Pashkevich, A. (2016). Practically identifiable model of robotic manipulator for calibration in real industrial environment. In Advances in Intelligent Systems and Computing (Vol. 302, pp. 675–689). Springer Verlag. https://doi.org/10.1007/978-3-319-08338-4_49
Mendeley helps you to discover research relevant for your work.