The Calibration of Robot Motion Based on Cross Bar

Aiming at the problem that the end position information is easy and the attitude is difficult to be obtained in the measurement process, a calibration method based on the end position constraint is proposed to establish the linear equations. In this paper, it deduces the problem of degradation of the coefficient matrix in theory, which provides the basis for the selection of structural parameters, and adopts the method of cross bar calibration without coordinate transformation. It verifies the effectiveness of the algorithm by simulation in MATLAB.