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A new approach to the position and orientation calibration of robots

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2 Author(s)
Xu, W. ; Dept. of Mech. & Ind. Eng., Toronto Univ., Ont., Canada ; Mills, J.K.

A new technique for the position and orientation calibration of robots is presented. Three digital dial gauges are employed as sensors to determine the position of three points on the robot end-effector and the robot position errors. The orientation errors of the robot end-effector is calculated subsequently with the use of the position data collected. The repeatability of robots is also easily evaluated by using this measurement set-up. The experimental results show that the measurement set-up design is successful. This system represents an effective, low cost and feasible technique for industrial robot calibration in laboratory projects and industrial environments

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Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on

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