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A new calibration method for industrial robots

Published online by Cambridge University Press:  30 October 2001

Björn Karlsson  and
Torgny Brogårdh
Björn Karlsson
Affiliation:
Department of Physics and Measurement Technology, Linköping University, 581 83 Linköping (Sweden)
Torgny Brogårdh
Affiliation:
KT, ABB Robotics, 721 68 Västerås (Sweden)
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Abstract

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This paper presents a new calibration method for industrial robots. The calibration method is based on a combination of inclinometer and LVDT measurements and is very simple to use. The inclinometers measure the deviation from the gravity direction of a measurement rod and the LVDT sensor measures the length of the rod. The inclinometers can be used without any pre-calibration and the whole equipment is inexpensive, portable and robust.

Keywords

Robot calibrationKinematicsRobot accuracyOff-line programmingPosition measurementsInclinometerLVDT
Type
Research Article
Information
Robotica , Volume 19 , Issue 6 , September 2001 , pp. 691 - 693
Copyright
© 2001 Cambridge University Press