Kinematische Modellierung und numerische Parameteridentifikation bei Industrierobotern

A robot calibration procedure is used to model, measure and identify the kinematic, actuator and static-mechanical characteristics of robots constructed of a sequence of rotary and prismatic joints. Results from two different fields of research which are related to two different fields of mathematics are presented: A) First is a new approach to kinematic modeling which satisfies the requirements of completeness, minimality and model- continuity for all combinations of revolute and prismatic joints. It also allows the integration of an elastic deformation model. Joint transformations are selected from a set of 17 parametrizations: for each of them, model-continuity within their individual ranges of application has been shown by means of differential geometry. B) If actuator and elastic deformation models are included in the kinematicon, the numerical parameter identification problem must be modified in order to obtain usable and reliable results. Besides necessary scaling, a decision pr ocedure has been developed allowing a reduced model to be selected which is optimized with respect to its numerical characteristics. The decision procedure uses singular value decomposition of the identification problem and sensitivity parameters which are derived from the covariance matrix.