Simplified method for kinematic calibration of robots

Document Type

Conference Proceeding

Date of Original Version



A kinematic model based on the Shape Matrix is developed for robot calibration. This model displays proportionality for any robot configuration. The components of the model may be calculated in closed form from measurement of the end effector motion which occurs when the joints are moved one at a time. Results from a computer simulation indicate that the proposed model is able to successfully describe the robot kinematics from the measurement data and allows the direct use of joint encoder readings without the calculation of zero-offset errors. A system for obtaining pose measurements and end-effector motions for small perturbations of the joint positions is developed, and a method for determination of the model parameters from these measurements is presented. The proposed system is experimentally tested on a PUMA 560 robot, and results show a 90% reduction in positioning errors.

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