Robot Calibration and Compensation

William K. Veitschegger*, Chi Haur Wu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

112 Scopus citations

Abstract

This paper presents a method of calibrating and compensating for the kinematic errors in robot manipulators. A method of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator's structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector position. These kinematic errors are experimentally determined for a PUMA 560 six-joint manipulator. Two general-purpose compensation algorithms are developed and the improvement in the Cartesian position of the end-effector is experimentally measured and these results are presented. The results show that the positioning accuracy of a robot manipulator can be substantially improved using a relatively simple technique for measuring the Cartesian position of a tool attached to the end of the manipulator.

Original languageEnglish (US)
Pages (from-to)643-656
Number of pages14
JournalIEEE Journal on Robotics and Automation
Volume4
Issue number6
DOIs
StatePublished - Dec 1988

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Engineering(all)
  • Computer Science Applications
  • Electrical and Electronic Engineering

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