Figure 1

Concept of parameter identification of industrial manipulators. Unknown geometric parameters p lead to deviations between model prediction and actual tool center point (TCP) pose. On the left, the actual TCP pose \(\mathrm {TCP}( \boldsymbol {p}^{\mathrm {true}}, \boldsymbol {q})\) (in solid-black) and the predicted TCP pose \(\mathrm {TCP}( \boldsymbol {p}, \boldsymbol {q})\) (in red-dashed) are shown before the parameter identification and they do not coincide. The identification tries to eliminate these deviations by estimating the true parameters of the real manipulator. On the right, the actual TCP pose (in solid-black) and the predicted TCP pose (in red-dashed) coincide after the parameter identification procedure (for \(\boldsymbol {p}= \boldsymbol {p}^{\mathrm {true}}\)).