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Kinematic calibration and geometrical parameter identification for robots

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4 Author(s)
Renders, J.-M. ; Arc Robotique, Univ. Libre de Bruxelles, Brussels, Belgium ; Rossignol, E. ; Becquet, M. ; Hanus, R.

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-reflector 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

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:7 ,  Issue: 6 )