An Overview on Accuracy and Calibration Methods for Manipulators

Abstract:

Offline programming requires a good accuracy of the manipulators. The solution to the problem is to use a feedback mechanism to minimize the error. But, the real coordinate of the robot can be achieved with a measurement system. With this system the robot is calibrated and therefore errors are minimized. In this paper, an overview on some calibration methods used to reduce positioning and orientation errors of the end-effector are discussed. A set of methods are using a laser tracker for the measurements and the other methods are based on computer vision.

• Periodical: Applied Mechanics and Materials (Volume 658)
• Pages: 606-611
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.658.606
• Online since: October 2014
• Authors: Dan Romulus Dogaru, Ioan Doroftei*
• Keywords: Accuracy, Calibration, Robot

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