Calibration Algorithm for SCARA Robots
Original Publication Date: 1988-May-01
Included in the Prior Art Database: 2005-Feb-15
This article describes a calibration method for SCARA robots including algorithms for performing the necessary calibrations to improve the accuracy of the robotic system. The algorithms disclosed herein perform the necessary calculations in order to make a SCARA-type robotic system accurate. An accurate machine is one that can be programmed to travel to a point that it has not been to before and to reach this point with small or no measurable error. The required inputs for this process are two sets of data: 1) A set of X-Y coordinates describing exact locations of points on a mechanical fixture, for example, the pin locations of the plate shown in Fig. 1. Coordinates are preferably determined by an accurate inspection device found in machine shops.