Software simulation platform for learning techniques for identifying kinematic parameters of industrial robots

This paper presents the simulation software of capture and analysis of data for parameter identification of robot kinematic models developed for learning the discipline and the practical sessions under the activity for courses for master and postgraduate students adapted to the EHEA. After the content of the theoretical sessions, the software will be used for practical sessions, from a constructivist approach, encouraging independent learning of the students. This parametric software covers most important aspects of a robot calibration procedure and the influences on accuracy: 1) kinematic modeling, 2) data capture procedure, 3) parameter identification methods, 4) evaluation of the calibration. Also it allows to understand how each influence spreads to the final error and how to minimize sources of error in the process to establish optimal conditions for the highest possible accuracy in the parameters identified.