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

  • Alexandr Klimchik
  • Stephane Caro
  • Benoit Furet
  • Anatol Pashkevich
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


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.


Robotic manipulator Geometric calibration Parameter identifiability Model reduction Experimental validation 



The work presented in this paper was partially funded by ANR (Project ANR-2010-SEGI-003-02-COROUSSO) and FEDER ROBOTEX, France.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Alexandr Klimchik
    • 1
  • Stephane Caro
    • 2
  • Benoit Furet
    • 3
  • Anatol Pashkevich
    • 1
  1. 1.Ecole des Mines de NantesIrccynFrance
  2. 2.Centre National de la Recherche ScientifiqueIrccynFrance
  3. 3.University of NantesIrccynFrance

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