Optimal Kinematic Calibration of Robots Based on the Maximum Positioning-Error Estimation

Kinematic calibration of a 3-DOF spindle head using a double ball bar

“…However, the process of the measurements is manual and labor intensive, and only suitable for small industrial robots, particularly if a relatively small workspace is of interest. Many other researches also have been carried out using distance-based approach [19][20][21][22]. Compared with the coordinate-based approach, the advantages of the distance-based approach are that the obtained data is independent on the selection of reference frame and it is unnecessary to identify the errors describing the rigid body motion of robot frame relative to the world frame because robot localization can be carried out afterwards according to the environmental context.…”

Selection of Optimal Measuring Points Using Genetic Algorithm in the Process to Calibrate Robot Kinematic Parameters

“…As for a parallel mechanism, methods of reducing the measurement cost were reported (Tanaka et al, 2005;Imoto et al, 2008;Daney et al, 2005). As one of the methods of selecting optimal measurement poses, the possibility of using genetic algorithm (GA) was introduced (Daney et al, 2005): however, it was still on the idea stage, i.e., it was not experimentally applied to a practical parallel mechanism.…”

Accurate Calibration of Kinematic Parameters of a Robot Using a Laser Tracking System : Compensation of Non-Geometric Errors Using Neural Networks and Selection of Optimal Measuring Points Using Genetic Algorithm

“…To speed up the calibration process, the smaller number of measuring points is preferable, while maintaining the accuracy. As for a parallel mechanism, methods of reducing the measurement cost were reported [12][13][14]. In [14], as one of the methods of selecting optimal measurement poses, the possibility of using genetic algorithm was introduced: however, it was still on the idea stage, i.e., it was not experimentally applied to a practical parallel mechanism.…”