Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    RoboCal - the IPK robot calibration package
    ( 1994)
    Schröer, K.
    Description of the capabilities and usage of the IPK robot calibration package RoboCal.
  • Publication
    Robot calibration - closing the gap between model and reality
    ( 1994)
    Schröer, K.
    As an introduction to robot calibration, this viewpoint presents a brief discussion on the usefulness of calibration, what a calibration system is, and on the hindrances for industrial use of calibration techniques.
  • Publication
    Robot calibration - method and results
    ( 1991)
    Schröer, K.
    ;
    Duelen, G.
    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.