Simulation Study on Robot Calibration Approaches

Pavel Kozlov, Alexandr Klimchik

2022

Abstract

The paper compares elastostatic calibration approaches for serial industrial robots. Specifically, this paper compares identification strategies based on the different measurement point locations and data fusion algorithms. The paper analyzes several robot calibration hypotheses based on different robot models. All the hypotheses were tested in a simulation study with 1000 data sets. The results showed that “4-6DoF after 6+3DoF” and “3+6DoF comb” methods demonstrated the best results for the considered methods. Strategies were at least 1.86 times more accurate for the resulting deviation metric than the classical “6DoF” identification.

Paper Citation

in Harvard Style

Kozlov P. and Klimchik A. (2022). Simulation Study on Robot Calibration Approaches. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 516-523. DOI: 10.5220/0011321800003271

in Bibtex Style

@conference{icinco22,
author={Pavel Kozlov and Alexandr Klimchik},
title={Simulation Study on Robot Calibration Approaches},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={516-523},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011321800003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Simulation Study on Robot Calibration Approaches
SN - 978-989-758-585-2
AU - Kozlov P.
AU - Klimchik A.
PY - 2022
SP - 516
EP - 523
DO - 10.5220/0011321800003271