Effect of non-geometric errors on manipulator inertial calibration

Investigated in this paper is the effect of nongeometric errors on manipulator inertial calibration. Nongeometric errors are referred to as joint friction, backlash and compliance. To account for this effect, the total least square (TLS) method and the instrumental variable (IV) method are applied to determine the estimates of the link inertial parameters. Results of simulation show that the TLS and IV methods can improve the accuracy of manipulator inertial calibration when subjected to nongeometric errors.