Kinematic calibration of industrial robots using full pose measurements and optimal pose selection

Yurttagül, Berk
This study focuses on kinematic calibration of industrial robots. Kinematic modeling, parameter identification and optimal pose selection methods are presented. A computer simulation of the kinematic calibration is performed using generated measurements with normally distributed noise. Furthermore, kinematic calibration experiments are performed on an ABB IRB 6600 industrial robot using full pose measurements taken by a laser tracking system. The kinematic model of the robot is developed using the modified Denavit - Hartenberg convention. A nonlinear least-squares method is employed during the parameter identification stage. According to the experiment results, the initial robot positioning errors are reduced by more than 80%.


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Citation Formats
B. Yurttagül, “Kinematic calibration of industrial robots using full pose measurements and optimal pose selection,” M.S. - Master of Science, Middle East Technical University, 2010.