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

Jost, Felix ; Kudruss, Manuel ; Körkel, Stefan ; Walter, Sebastian F.

In: Journal of Mathematics in Industry, 7 (2017), Nr. 9. pp. 1-25. ISSN 2190-5983

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Download (2MB) | Lizenz: Creative Commons LizenzvertragA computational method for key-performance-indicator-based parameter identification of industrial manipulators by Jost, Felix ; Kudruss, Manuel ; Körkel, Stefan ; Walter, Sebastian F. underlies the terms of Creative Commons Attribution 3.0 Germany

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Abstract

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.

Item Type: Article
Journal or Publication Title: Journal of Mathematics in Industry
Volume: 7
Number: 9
Publisher: Springer
Place of Publication: Berlin; Heidelberg
Date Deposited: 19 Jul 2017 11:33
Date: 2017
ISSN: 2190-5983
Page Range: pp. 1-25
Faculties / Institutes: Service facilities > Interdisciplinary Center for Scientific Computing
Subjects: 510 Mathematics
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