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A computational method for key-performance-indicator-based parameter identification of industrial manipulators

  • 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.

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Metadaten
Author:Felix Jost, Manuel KudrussORCiD, Stefan Koerkel, Sebastian F. Walter
DOI:https://doi.org/10.1186/s13362-017-0039-7
Parent Title (English):Journal of mathematics in Industry
Publisher:Springer Nature
Document Type:Article
Language:English
Year of first Publication:2017
Release Date:2022/03/29
Tag:ACCURACY; CONFIGURATIONS; ROBOT CALIBRATION; collision avoidance; industrial manipulators; key performance indicator; optimum experimental design; parameter identification; quantity of interest
Volume:7
Issue:9
Institutes:Fakultät Informatik und Mathematik
Begutachtungsstatus:peer-reviewed
OpenAccess Publikationsweg:Gold Open Access- Erstveröffentlichung in einem/als Open-Access-Medium
research focus:Digitalisierung
Licence (German):Creative Commons - CC BY - Namensnennung 4.0 International