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Optimal configuration selection for stiffness identification of 7-Dof collaborative robots

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Abstract

Aimed to improve the stiffness identification precision of 7-degree-of-freedom (Dof) collaborative robots (Cobots), an optimal configuration selection method for elastostatic calibration of robots is researched by the influencing factor separation method. Different from previous studies, this method can deal with the influence of redundant Dof on measurement configuration selection of redundant robotic manipulators. The independent influence of each joint on the inverse condition number which is selected as the evaluation criterion is analyzed through the orthogonal design experiment and the analysis of variance, and the optimal measuring configurations of robots for stiffness identification can be selected from joint space. Based on a 7-Dof Cobot SHIR5-III, static compliance simulations are performed to identify joint stiffness of the robot. Compared to identification results by using the configurations having large, medium and small inverse condition number, the effectiveness of this optimal configuration selection method is verified and the identification accuracy can be essentially improved with configurations having a large inverse condition number.

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Acknowledgements

This study was funded by the National Natural Science Foundation of China (Grant No. 51405482), the State Key Laboratory of Robotics (Grant No. 2014-Z09), the Key Program of the Chinese Academy of Sciences (Grant No. KGZD-EW-608-1) and the National Natural Science Foundation of China (Grant No. 51535008).

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Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Mingwei Hu, Hongguang Wang & Xinan Pan

  2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China

    Mingwei Hu, Hongguang Wang & Xinan Pan

  3. University of Chinese Academy of Sciences, Beijing, 100049, China

    Mingwei Hu

Authors
  1. Mingwei Hu
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  2. Hongguang Wang
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  3. Xinan Pan
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by Mingwei Hu, Hongguang Wang and Xinan Pan. The first draft of the manuscript was written by Mingwei Hu, and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Hongguang Wang.

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The authors declare that there are no conflict of interest regarding the publication of this paper.

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The data used to support the findings of this study are available from the corresponding author upon request.

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Hu, M., Wang, H. & Pan, X. Optimal configuration selection for stiffness identification of 7-Dof collaborative robots. Intel Serv Robotics 13, 379–391 (2020). https://doi.org/10.1007/s11370-020-00322-x

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