Optimization of measurement configurations for geometrical calibration of industrial robot

TL;DR

This paper presents an advanced calibration technique for industrial robots that optimizes measurement configurations using non-linear experiment design and user-defined test-poses to improve calibration accuracy.

Contribution

It introduces a novel optimization approach for calibration experiment configurations based on non-linear design theory and user-defined test-poses, enhancing calibration quality.

Findings

Optimized configurations improve calibration accuracy.

Numerical routines effectively generate optimal manipulator configurations.

Method demonstrated successfully through multiple examples.

Abstract

The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, the calibration experiment quality is evaluated using a concept of the user-defined test-pose. In the frame of this concept, the related optimization problem is formulated and numerical routines are developed, which allow user to generate optimal set of manipulator configurations for a given number of calibration experiments. The efficiency of the developed technique is illustrated by several examples.