An automated robot calibration system

The narcissistic robot: Robot calibration using a mirror

“…The arm is modeled according to Robinson's notation [31], where each link is described by a rigid transformation relative to the previous link frame H i , consisting of a series of particular transformations of the form…”

Research on the kinematic calibration of a modular reconfigurable robot

“…Yang et al [3] proposed a self-calibration method for three-legged modular parallel robots. Robinson et al [4] presented a calibration method and software; the elementary transformations are reassigned as six transformations and their corresponding parameters, five of which were identified. Xu et al [5] proposed a method of calibrating a joint module of two rotary degrees of freedom by using two neural networks.…”

A Non-Contact Method for Detecting On-Line Industrial Robot Position Errors

“…During robot operation, use the corrected kinematic model to compute adjusted positions in space and then command the robot to move to the adjusted positions (which causes the robot to move to the actual desired positions). The number of calibration poses used and the corresponding link positions for each pose must be selected to provide the information needed to accurately compute the kinematic model parameters (Robinson, Orzechowski, James, & Smith, 1997). For example, Owens (1994) used 25 different poses, while Rocadas and McMaster (1997) used 50 different poses.…”