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Robot calibration - method and results

: Schröer, K.; Duelen, G.

Robotics and Computer-Integrated Manufacturing 8 (1991), No.4, pp.223-231
ISSN: 0736-5845
Journal Article
Fraunhofer IPK ()
error compensation; parameter identification; robot accuracy; robot calibration; robot design analyse; robot modelling

For many applications, robots are needed which have an absolute cartesian pose accuracy the same order of magnitude as their repeatability. Calibration procedures have to be applied to reach this aim. In the following paper, a calibration procedure is presented which allows the automatic determination of all kinematic parameters, gear parameters, and static elasticity effects. With the aid of these results it is possible to increase pose accuracy up to the robot's system limit as determined by its repeatability. Moreover, information can be acquired which gives hints toward improvements in robot design, therby also improving repeatability.