Robot calibration—Method and results

Abstract

For many applications, robots are needed which have an absolute Cartesian pose accuracy of the same order of magnitude as their repeatability. Calibration procedures must be applied to reach this aim. In this 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 suggests improvements in robot design, thereby also improving repeatability.