Abstract
This paper presents a general methodology to calibrate the geometric and flexibility parameters of robots with flexible joints and links. The method uses the classical description of rigid robots, description of the shape of links, and definition of the elasticity parameters. The generalized Jacobian matrix corresponding to the geometric and flexibility parameters is obtained, using the flexible transformation matrices between successive links. The reaction forces and moments on the links and joints are obtained using a customized recursive Newton–Euler algorithm, similar to that used in the computation of the inverse dynamic model. The calibration of the PA-10 robot of Mitsubishi is presented by simulation and practical experimentation. We show that taking into account the joint flexibility for this robot allows us to improve its accuracy.
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Khalil, W., Besnard, S. Geometric Calibration of Robots with Flexible Joints and Links. Journal of Intelligent and Robotic Systems 34, 357–379 (2002). https://doi.org/10.1023/A:1019687400225
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DOI: https://doi.org/10.1023/A:1019687400225