Dynamic calibration of industrial robots with inertial measurement systems

Industrial robots require a high path accuracy for demanding continuous path-control tasks. In this publication we will present a new method which improves the path accuracy of industrial robots according to ISO 9283. This dynamic calibration is realized by means of a model based precontrol and corrects on-line the desired joint positions. For the identification of the model parameters of the precontrol the robot's path deviations are directly measured off-line at the end effector with an inertial measurement system. The experimental results presented here prove the efficiency of this dynamic calibration procedure.