当前位置: X-MOL 学术J. Math. Industry › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
A computational method for key-performance-indicator-based parameter identification of industrial manipulators
Journal of Mathematics in Industry Pub Date : 2017-07-10 , DOI: 10.1186/s13362-017-0039-7
Felix Jost , Manuel Kudruss , Stefan Körkel , Sebastian F Walter

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.

中文翻译:

基于关键性能指标的机械臂参数辨识的计算方法

我们提出了一种新颖的基于导数的参数识别方法,以提高工业机械手工具中心点的精度。在优化中直接将工具中心点视为问题制定的一部分,作为关键性能指标。此外,我们提出的方法将避免碰撞作为特殊的非线性约束因素考虑在内,因此适合工业应用。进行的数值实验表明,与其他方法相比,在优化过程中考虑关键性能指标的最优实验设计取得了显着改善。
更新日期:2017-07-10
down
wechat
bug