A robot kinematic calibration technique is presented. The processassumes the use of an optical detector mounted on the robot'send-effector, which is used in position feedback. By this method,calibration data can be acquired for detector positions along a straightlaser beam, and the detector is precisely centered on the laser line ateach sample point. By structuring the data collection process this way,post processing to deduce kinematic parameters is simplified. Agoodness-of-fit metric is given which exploits the straight-lineconstraint of the data. This metric is well suited for use within anumerical search for best-fit kinematic parameters. Illustrations of thetechnique's virtues and limitations are presented. An experimentalapparatus for evaluating the technique on industrial robots isdescribed. The approach is shown to be simple, inexpensive, and feasible
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