Industry-oriented Performance Measures for Design of Robot Calibration Experiment

TL;DR

This paper introduces industry-specific performance measures for designing robot calibration experiments, focusing on end-effector accuracy post-error compensation, to optimize measurement configurations for industrial robot calibration.

Contribution

It proposes new performance measures based on manipulator test-pose concepts, enabling better comparison and optimization of calibration plans for industrial robots.

Findings

Performance measures improve calibration accuracy assessment.

Optimized measurement configurations enhance robot end-effector precision.

Application example demonstrates practical benefits in machining tasks.

Abstract

The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of manipulator test-pose and referred to the end-effector location accuracy after application of the error compensation algorithm, which implements the identified parameters. This approach allows the users to define optimal measurement configurations for robot calibration for given work piece location and machining forces/torques. These performance measures are suitable for comparing the calibration plans for both simple and complex trajectories to be performed. The advantages of the developed techniques are illustrated by an example that deals with machining using robotic manipulator.