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The kinematic calibration is very important work to improve the position and orientation accuracy of robots. This paper presents a method for the kinematic self-calibration of a joint palletizing robot. The calibration makes use of the micrometer gauge(with magnetic stand), measuring platform and joint encoders of robot as measuring tools. The simulating operation was made by using the method of least square of Matlab software and the kinematic equation of robot. The simulating results show that the method was practicable. The main advantage of this method is it can be executed rapidly without external complex sensors to measure the position or the orientation of the robot.