Practically Identifiable Model of Robotic Manipulator for Calibration in Real Industrial Environment

Abstract

The paper addresses a problem of robotic manipulator calibration in real industrial environment. Particular attention is paid to the practical identifiability of the model parameters, which completely differs from the theoretical one that relies on the rank of the observation matrix only, without taking into account essential differences in the model parameter magnitudes and the measurement noise impact. To solve the problem, several model reduction methods are proposed. The advantages of the developed approach are illustrated by an application example that deals with the geometric calibration of an industrial robot used in aerospace industry.