A method for improving calibration accuracy of Multi-robot Base Frame

The calibration of the relative positional relationship between the base frame of multiple robots is the basis of multi-robot collaborative work. Therefore, it is necessary to accurately measure the relative positional relationship. The calibration method based on the robot itself has the advantages of simple operation and low cost, but the teaching accuracy is difficult to be guaranteed and the calibration accuracy is low. The four- point calibration method proposed in this paper was based on the calibration method of the robot itself. Adopted the principle of homogenization error to improve the calibration accuracy. The ultrasonic scanning experiment proves that the method can reduce the calibration error to 1mm and can effectively improve the accuracy of automated ultrasonic testing.