A software package for the calibration of robots

Wisama Khalil (1) , Philippe Lemoine (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper presents a software package for the simulation and the realization of the calibration of the geometric parameters of robots. This package which is called GECARO, GEometric CAlibration of RObots, contains new methods which can carry out the calibration of the geometric parameters and the gain transmission ratios of serial robots without the need of external sensors. It contains also classical methods which are based on measuring the position and the orientation of the terminal link using external sensors.

Mots clés: robotics; calibration

Domaines: Automatique / Robotique

Wisama Khalil, Philippe Lemoine. A software package for the calibration of robots. CESA'96 IMACS, Computational Engineering in Systems Applications - Symposium on Robotics and Cybernetics, Jul 1996, Lille, France. pp. 131-136. ⟨hal-00362602⟩