Robot Calibration Procedure and Fixture
Original Publication Date: 1988-Nov-01
Included in the Prior Art Database: 2005-Feb-15
A technique is described whereby a robotic calibration procedure and sensor fixture provides an improvement in positioning accuracy in the determination of joint displacements. The procedure uses sequential regression algorithms to estimate a Jacobian matrix. When used in conjunction with external sensors connected in a feedback loop to a host computer, the concept provides an automatic method of calibrating and correcting robotic manipulator action for improved accuracy of positioning. Typically, industrial robots have not had a general-purpose joint level calibration procedure, such that offsets in the joints of the manipulators often result in a failure to provide accurate positioning. This is particularly evident when joints wear do to their continuous usage.