A new approach of robot calibration

摘要

As is it known,the prsent-day commercial availabel robots are euqipped with internal sensors (position sensors,velocity sensors etc.).Int his repsect,because of manufacturing andassembly processes and because of other unknown or difficult to identify and modelling effects,the calibration fo industrial robots for high precision applciatiosn is requreid.The objective of this paper is to present a new applroach for robot calibration,which implies low cost and good performances,accessible to any robot user,this approach has to the base the following phoilosophy: to elaborate an algorithm of robot calibration without to modify the parameters of the robot modle.theis is extremely useful when the robot usre has no possibility to intervene in the robot model to adjust its parameters.