Calibration Methods for High Precision Robot Assisted Industrial Automation

This paper presents calibration methods for high precision robot assisted industrial automation process. The methods considers two calibration procedures namely the calibration using an object and the planar constraints. The proposed estimated procedures are based on both iterative and optimization solvers. The calibration methods are validated in a robotic simulation environment to visualize the transformations before and after calibration. The results show that the two calibration solvers are able to detect the exact poses from a simulated data set. Second, the method is applied to robot assisted drilling for nut-plate installation in aerospace manufacturing process which is composed of a laser profile from Acuity mounted on Mitsubishi RV-6SDL manipulator. The calibration procedure using a sharp tool to show that the most accurate simulation and experimental results can be achieved under the effect of noise.