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The present project deals with the elastostatic modeling and calibrationexperiment of spacial industrial manipulators using an optimal selection ofmeasurements pose, for the calibration procedure, the optimal pose selectionaims to the efficiency improvement of identification procedure for serialmanipulators which reduces noise impact on the parameters identificationprecision, it is usually used for planar manipulators, our work is mainly toextend the approach for a more complicated manipulator in 3D space using a wisedecomposition of the spacial manipulator into a set of serial sub-chains, theoptimal pose configuration is then used in the calibration procedure using thecomplete and irreducible model for the 7 DOF serial manipulator. Themethodology is illustrated with the anthropomorphic industrial robot KUKAiiwa14 R820 for which, we performed the calibration and constructed thestiffness modeling using two different approaches namely VJM (Virtual JointModeling) and MSA (Matrix Structural Analysis).

Geometric and Stiffness Modeling and Design of Calibration Experiments for the 7 dof Serial Manipulator KUKA iiwa 14 R820