Table 6 Key performance indicator (KPI) average variances (mm 2 ) of three KUKA robots with heuristic and optimized experimental designs for parameter identification
Cost function | Average variance of KPI (mm 2 ): \(\boldsymbol{\frac{1}{3}\operatorname{tr}( {C}_{s})}\) | ||
|---|---|---|---|
Heuristic | Optimized with collision avoidance | ||
\(\boldsymbol{\phi_{A}( {C}_{p})}\) | \(\boldsymbol{\phi_{A}( {C}_{s})}\) | ||
KR 15 | 0.59 | 0.40 | 0.33 |
KR 300 | 0.58 | 0.39 | 0.35 |
KR 500 | 0.61 | 0.40 | 0.35 |
Heuristic | Standard method | KPI method | |