Study of Uncertainty in Identification of Kinematic and Elastostatic Parameters of the Robot Manipulator

The article represents model studies of the third-tier calibration process of the 6-degree manipulation robot KUKA KR10 R900. The robot's mathematical model with the non-rigidity is described. The impact of the initial conditions on the calibration quality is investigated. The dependence of the calibration reliability on the measurements' quantity is detected. The influence of the number of measurements on the model accuracy is determined under the circumstances of limited sensor accuracy.