Abstract
A high level of accuracy in industrial robots has been specified as an essential requirement in many advanced robot applications. Instead of hardware modifications, robot positioning capability may be improved by a successful calibration procedure. Since variations of robot geometry will result in serious robot positioning error, this paper presents an algorithm to accurately identify the robot's geometric parameters through a new calibration procedure. The proposed calibration scheme utilizes a non-contact, automatic data acquisition system which includes a single laser displacement meter. Without the necessity of three-dimensional measurements around the workspace, the calibration process can be effectively implemented on commercial robots located in an industrial environment. A comparison of the robot static positioning performance, before and after the calibration, reveals the success of the proposed calibration procedure.
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