Kinematic calibration and geometrical parameter identification for robots
- 1 January 1991
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 7 (6) , 721-732
- https://doi.org/10.1109/70.105381
Abstract
A technique is presented for the calibration of robots based on a maximum-likelihood approach for the identification of geometrical errors. A new experimental setup is presented for measurement of the end-effector position errors. The errors of position and orientation of the measuring device are included in the algorithm and identified. Tests have been carried out on a robot with six degrees of freedom. Tests show that this technique can reduce the mean error distance by a factor of more than 15. Compensation algorithms are presented, based on the improved knowledge of the geometrical model.SCOPUS: ar.jinfo:eu-repo/semantics/publisheKeywords
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