摘要：The paper deals with elastostatic calibration of industrial robots. We compared three identification strategies - namely 6 DoF, 4-6 DoF after 3 DoF, 4-6 DoF after 6 DoF. The comparison is based upon the conventional measures of robot position and on the measures of robot arm positions. Here we present the analysis of model production techniques and dataset filtering and fusion methods. All hypotheses were tested on the real experimental data collected with absolute measurement system. The results showed that last joint parameter can hardly be estimated from real experimental data and accuracy analysis can be done separately for z-direction and in-plane deflections. The identified elastostatic model parameter allowed to completely compensate the deflections in z-direction with deviation 0.3mm or 80% of entire positioning error.
