GECARO: A system for the GEometric 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 practical calibration of the geometric parameters of robots. This system which is called GECARO, GEometric CAlibration of RObots, contains a large variety of methods to identify the geometric parameters of robots. GECARO is running on PC computers and developed using MATLAB; any general serial robot can be treated directly. The identifiable parameters are determined using a numerical method based on the QR decomposition, while the identification is carried out using linearized model which is solved iteratively using least squares criterion and by updating the observation matrix after each iteration.

Mots clés: calibration; geometric parameters; static accuracy; identification; robots

Domaines: Automatique / Robotique

Wisama Khalil, Philippe Lemoine. GECARO: A system for the GEometric CAlibration of RObots. Journal Européen des Systèmes Automatisés (JESA), 1999, 33 (5-6), pp. 717-739. ⟨hal-00362608⟩