A Novel Method for Horizontal Level Calibration of a Manipulator Testing Equipment

摘要

This paper presents a novel method for horizontal level calibration of a two-joints manipulator testing equipment. Traditional calibration methods of this equipment are time-consuming, which also rely on expensive instruments. The novel method proposed in this article only leverage the torque sensor of the manipulator testing equipment to finish the calibration. Comparing with traditional calibration methods, the proposed method saves both economical and time-related costs. Experimental results demonstrate the effectiveness of the proposed method.