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Gramian-constrained optimization process for the stiffness model identification of industrial manipulators

Published online by Cambridge University Press:  23 December 2021

W. R. Oliveira Open the ORCID record for W. R. Oliveira [Opens in a new window]  and
L. G. Trabasso
W. R. Oliveira*
Affiliation:
Division of Mechanical Engineering, Aeronautics Institute of Technology (ITA), São José dos Campos, Brazil
L. G. Trabasso
Affiliation:
Division of Mechanical Engineering, Aeronautics Institute of Technology (ITA), São José dos Campos, Brazil SENAI Innovation Institute for Manufacturing Systems, Joinville, Brazil
*
*Corresponding author. E-mail: wesleyro@ccm-ita.org.br
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Abstract

This work deals with the elastostatic identification of industrial manipulators. By reviewing the basics of the physical elastic properties of both links and joints in the framework of the lumped stiffness modeling techniques, the Gramian nature of the stiffness matrices has been found out adequate to do so. Then, a novel optimization method has been developed, which incorporates the Gramian matrix formulation along a non-linear optimization process, acting as an intrinsic constraint for the conservativeness of the elastostatic modeling. Numerical and experimental analyses evince the effectiveness of the proposed method, as the elastostatic models obtained by means of the proposed technique predict more than 93.7% of the compliance deviations of a real industrial robot. The proposed method is simple enough to be jointly applicable to the most recent elastostatic model reduction techniques.

Keywords

elastostatic identificationGramian matrixrobot stiffnessrobot calibrationoptimization methods
Type
Research Article
Information
Robotica , Volume 40 , Issue 8 , August 2022 , pp. 2592 - 2609
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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