Robot calibration

Robot calibration

Overview of Robot Calibration

Published in Hanqi Zhuang, Zvi S. Roth, Camera-Aided Robot Calibration, 2018

Robot Calibration is the process of enhancing the accuracy of a robot manipulator through modification of the robot control software. Humble as the name “calibration” may sound, it encompasses four distinct actions, none of which is trivial: Step 1: Determination of a mathematical model that represents the robot geometry and its motion (Kinematic modeling).Step 2: Measurement of the position and orientation of the robot end-effector in world coordinates (Pose Measurement).Step 3: Identification of the relationship between joint angles and end-point positions (Kinematic Identification).Step 4: Modification of control commands to allow a successful completion of a programmed task (Kinematic Compensation).

Evolutionary algorithms in robot calibration

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Journal Information

Published in Materials and Manufacturing Processes, 2023

Pavel Bastl, Nirupam Chakraborti, Michael Valášek

Kinematic robot calibration deals with the identification of real parameters of robot based on robot’s kinematic model. The kinematic model describes relationship between parameters to be identified and required position and spatial orientation of robot’s end point effector. The kinematic model of a serial robot is based on extended transformation matrices as described for example in[2,3] The form of kinematic description is as shown in Eq. 1.

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Overview of Robot Calibration

Evolutionary algorithms in robot calibration