Abstract
A semiautomatic procedure to calibrate a robot manipulator for improving positioning accuracy is proposed. An error-correcting transformation is estimated using the point-pairs in the theoretical and actual coordinate frames. The theoretical points are obtained using a 3D model of the inspected part, whereas the actual points are derived with image processing and analytic geometry techniques. The estimation of the error-correcting transformation is based on a leastsquare method. Experimental results are described to illustrate the calibration procedure.
| Original language | English |
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| Pages (from-to) | 19-39 |
| Journal | Journal of Robotic Systems |
| Volume | 3 |
| DOIs | |
| State | Published - 1986 |