  The paper focuses on the robust identification of geometrical and
elastostatic parameters of robotic manipulator. The main attention is paid to
the efficiency improvement of the identification algorithm. To increase the
identification accuracy, it is proposed to apply the weighted least square
technique that employs a new algorithm for assigning of the weighting
coefficients. The latter allows taking into account variation of the
measurement system precision in different directions and throughout the robot
workspace. The advantages of the proposed approach are illustrated by an
application example that deals with the elasto-static calibration of industrial
robot.
