Kinematic calibration improves the positioning accuracy of articulated industrial manipulators. Industrial manipulators with kinematic calibration are more likely to be successfully offline programmed. Almost all manufacturers offer this calibration service. The calibration provided by the robot manufacturer is a working space calibration, which means that it guarantees a positioning accuracy for all possible configurations. This approach seems reasonable for an unknown target operation and if only a single set of model parameters can be stored in the robot controller. However, nowadays robot controllers can store more than one set of model parameters to reflect the significantly different orientations in which industrial manipulators can be mounted, e.g., floor-, wall, or ceiling-mounted. Thus, this work investigates the variability of the mean and maximum positioning accuracy of industrial manipulators in four different operating space calibrations and compares them with the working space calibration provided by the robot manufacturer. The article concludes with a discussion about potential improvements of existing kinematic calibration procedures.
Part of ISBN 9781998999118
QC 20230802