Abstract
Robot kinematic calibration used to be carried out with the partial pose measurements (position only) of dimension 3 in industry, while full pose measurements (orientation and position) of dimension 6 sometimes could be considered to improve the calibration performance. This paper investigates the effects of measurement dimensions on robot calibration accuracy. It compares the resulting robot accuracies in both partial pose and full pose cases after calibrating three structural types of robot manipulators such as a serial manipulator (Hyundai HA-06 robot), a single closed-chain manipulator (Hyundai HX-165 robot), and a multiple closed-chain manipulator (Hyundai HP-160 robot). These comparative studies show when the full-pose based calibration need to be considered and how much it contributes the improvement of robot accuracy to the different structural type of robot manipulators.
Highlights
Robotic manipulators have become more common in advanced applications
The identification of kinematic errors in robot calibration normally requires experimental measurements of the robot end-effector, which consists of three orientation elements and three positional elements
The results for the multiple closed chain robot of HP-160 shows that the robot accuracy from full pose calibration show somewhat better than the robot accuracy from the partial pose calibration
Summary
Robotic manipulators have become more common in advanced applications (such as robot-based machining, laser welding, laser cutting, multiple robot cooperation, etc.). For robots having multiple closed chains, the calibration using the full pose measurement results in more accurate robot parameters than the one using the partial pose measurements
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