TY - JOUR A1 - Jost, Felix A1 - Kudruss, Manuel A1 - Koerkel, Stefan A1 - Walter, Sebastian F. T1 - A computational method for key-performance-indicator-based parameter identification of industrial manipulators JF - Journal of mathematics in Industry N2 - We present a novel derivative-based parameter identification method to improve the precision at the tool center point of an industrial manipulator. The tool center point is directly considered in the optimization as part of the problem formulation as a key performance indicator. Additionally, our proposed method takes collision avoidance as special nonlinear constraints into account and is therefore suitable for industrial use. The performed numerical experiments show that the optimum experimental designs considering key performance indicators during optimization achieve a significant improvement in comparison to other methods. An improvement in terms of precision at the tool center point of 40% to 44% was achieved in experiments with three KUKA robots and 90 notional manipulator models compared to the heuristic experimental designs chosen by an experimenter as well as 10% to 19% compared to an existing state-of-the-art method. KW - ACCURACY KW - collision avoidance KW - CONFIGURATIONS KW - industrial manipulators KW - key performance indicator KW - optimum experimental design KW - parameter identification KW - quantity of interest KW - ROBOT CALIBRATION Y1 - 2017 U6 - https://doi.org/10.1186/s13362-017-0039-7 VL - 7 IS - 9 PB - Springer Nature ER -