Roboter-Kalibration durch Abstandsmessungen

For many applications, robots are needed which have an absolute, cartesian pose accuracy in the same order of magnitude as their repeatability. Calibration procedures have to be applied to reach this aim. The required measurements must be very precise and therefore need complex and expensive measuring procedures and devices. In the paper, it is shown that for these measurements distance sensors can also be employed and how it can be done by enlarging the robot model.