Schröer, K.K.SchröerHeld, J.J.HeldKirchhoff, U.U.Kirchhoff2022-03-022022-03-021988https://publica.fraunhofer.de/handle/publica/174391Improvement of positioning accuracy is necessary for advanced robotic applications. The results and the procedure for model parameter identification of robots is presented. As measuring device an automatic theodolite system is used. Identification of kinematic-geometric parameters, gear parameters; elasticity parameters is possible. Improvement of positioning accuracy up to the limits set by repeatability is show through a verification procedure.deaccuracyelasticity modelgear modelkinematic modelmanipulatorparameter identificationrobottheodolite measurement670book article