Elasto-geometrical calibration of an industrial robot under multidirectional external loads using a laser tracker

On the improvement of calibration accuracy of parallel robots – modeling and optimization

“…A recent development in this subject is elasto-geometrical calibration proposed in (Kamali et al, 2016). This approach used end-effector positional data acquired by a laser tracker to identify parameters related with joint stiffness and errors.…”

Positioning Accuracy Improvement of Industrial Robots Considering Configuration and Payload Effects Via a Hybrid Calibration Approach

“…It is noted that the research issues in level-1 and level-2 calibrations have drawn close attention in the past two decades [2]- [5]. To further enhance the robot accuracy, some researchers [6]- [11] have attempted to tackle the issues of the complex level-3 calibration, which involve the parameter identification with geometric and non-geometric errors of industrial robots, to meet the demand for higher precision. For example, Jang et al [6] and Zhou et al [9] proposed a similar method to consider not just the kinematic model but also joint stiffness model using linear torsional spring to compensate the positioning errors.…”

Calibration of Industrial Robot Kinematics Based on Results of Interpolating Error by Shape Function

“…The process was performed using high-order Chebyshev polynomials to represent individual error terms and a laser tracker system to acquire the measured data. Laser tracker systems are often used in studies of kinematic error calibration of series and parallel robots (Abderrahim et al, 2006;Kamali et al, 2016;Sun et al, 2016). Yu and Xi (2018) presented a self-calibration method based on measuring the centers of four spherical calibration targets located around the inspecting system.…”