Equivalent Open-Loop Kinematic Calibration Avoiding Expensive Measurement Systems

摘要

MOst of kinematic calibration methods use expensive measurement equipment. To avoid external sensors, it is possible to use a calibration method based on a closed kinematic chain, formed between the robot base and the robot tool end-point constrained to the workspace. In this paper we propose a closed-loop approach which allows, recording only joint variables, to identify the same number of robot kinematic parameters as in the open-loop approach using an external measurement system. experimental tests on a telemanipulator have demonstrated the method reliability.