Algorithm for Calibrating Robot Arms

Abstract

Robots made to less demanding specifications and yet be more accurate. Method, described in published paper, used on any serial-link robot with any combination of revolute and primatic joints. Increases accuracy of positioning manipulator at any point in workspace relative to fixed coordinate system. Accurate absolute positioning capability particularly useful for those tasks where robot is issued target location by external sensory devices, such as vision system. With new method, ultraprecise manufacturing and high-resolution measurements of robot components unnecessary. Method therefore reduces cost of robots in addition to increasing robot accuracy.