Calibration of Serial Manipulators: Theory and Applications

The kinematic calibration is a procedure to improve the manipulator accuracy without mechanical means by acting on the manipulator controller. Although manipulators are composed by accurate mechanical components, the precision of their motion is affected by many sources of error (Mooring et al, 1991). The final position accuracy is mainly influenced by: kinematic inaccuracy (due to manufacturing and assembly errors in both actuated and passive joints), load deformation (due to external forces including gravity) and thermal deformation (Reinhar et al, 2004). This is true for serial (Mooring et al, 1991) as for parallel (Wildenberg, 2000) manipulators as well. Each of these factors should be addressed with an appropriate compensation or calibration methodology. This work deals with kinematic inaccuracy, related to robot geometry, assembly and joint motion. One possibility to compensate for geometrical errors is to perform a

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