eprintid: 23238
rev_number: 12
eprint_status: archive
userid: 1589
dir: disk0/00/02/32/38
datestamp: 2017-07-19 11:33:11
lastmod: 2024-03-09 14:58:46
status_changed: 2017-07-19 11:33:11
type: article
metadata_visibility: show
creators_name: Jost, Felix
creators_name: Kudruss, Manuel
creators_name: Körkel, Stefan
creators_name: Walter, Sebastian F.
title: A computational method for key-performance-indicator-based parameter identification of industrial manipulators
subjects: ddc-510
divisions: i-708000
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.
date: 2017
publisher: Springer
id_scheme: DOI
ppn_swb: 165937457X
own_urn: urn:nbn:de:bsz:16-heidok-232381
language: eng
bibsort: JOSTFELIXACOMPUTATI2017
full_text_status: public
publication: Journal of Mathematics in Industry
volume: 7
number: 9
place_of_pub: Berlin; Heidelberg
pagerange: 1-25
issn: 2190-5983
citation:   Jost, Felix ; Kudruss, Manuel ; Körkel, Stefan ; Walter, Sebastian F.  (2017) A computational method for key-performance-indicator-based parameter identification of industrial manipulators.  Journal of Mathematics in Industry, 7 (9).  pp. 1-25.  ISSN 2190-5983     
document_url: https://archiv.ub.uni-heidelberg.de/volltextserver/23238/1/13362_2017_Article_39.pdf