Simulation Study on Robot Calibration Approaches

Pavel Kozlov; Alexandr Klimchik

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Paper

Simulation Study on Robot Calibration Approaches

Topics: Engineering Applications on Robotics and Automation; Robot Design, Development and Control

In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics ICINCO - Volume 1, 516-523, 2022 , Lisbon, Portugal

Authors: Pavel Kozlov and Alexandr Klimchik

Affiliation: Innopolis University, Innopolis, Russian Federation

Keyword(s): Elastostatic Calibration, Industrial Robot, Robot Calibration, Identification Method, Simulation, Models Comparison.

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.

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Paper citation in several formats:

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 - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 516-523. DOI: 10.5220/0011321800003271

@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 - ICINCO},
year={2022},
pages={516-523},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011321800003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Simulation Study on Robot Calibration Approaches
SN - 978-989-758-585-2
IS - 2184-2809
AU - Kozlov, P.
AU - Klimchik, A.
PY - 2022
SP - 516
EP - 523
DO - 10.5220/0011321800003271
PB - SciTePress