Model-based approach

Es wird ein mathematisches Modell mit unbekannten Modellparametern aufgestellt. Die reale Roboterkinematik wird z.B. mit der Messsensorik LaserLAB von WIEST vermessen und über ein nichtlineares Ausgleichsverfahren werden optimale Parameterwerte berechnet. Die so ermittelten kinematischen Roboterparameter werden dann in die Robotersteuerung übertragen, um das theoretische Robotermodell an die reale Roboterkinematik anzupassen.


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