Quasi-Static Compliance Calibration of Serial Articulated Industrial Manipulators

This article presents a procedure for the quasi-static compliance calibration of serial articulated industrial manipulators. Quasi-static refers to apparent stiffness displayed by manipulators at low-velocity movements, i.e., from 50 250 mm/s. The novelty lies in measurement phase, which deflections manipulator’s end effector are measured under movement along circular trajectory. might be more applicable model parameter, representing actual manipulator accurately, movements. indicates that robot may yield accurate estimates trajectory optimization compared with static implementation phase. study compares and compliance. were discretized configurations trajectories, whereas motion same trajectories. Loads different magnitudes induced using Loaded Double Ball Bar. displacements linear variable differential transformer embedded Bar Leica AT901 laser tracker. These procedures implemented case on large five positions its workspace. shows bigger than deflections. This, turn, significant difference between Finally, parameters improve accuracy robots challenges realizing cost-efficient discussed.