Calibration procedure for an industrial robot

A calibration procedure for a manipulator in a typical industrial environment is investigated. The calibration problem is posed, and the constraints are listed for the particular task to be addressed. The robot geometry is investigated to locate the primary sources of inaccuracy. A calibration procedure is proposed that combines design modifications in the robot with active calibration fixtures in the workspace. Results of several tests are tabulated to demonstrate the success of the calibration procedure.<>