Autonomous calibration of Robots using planar points

Wisama Khalil (1) , Philippe Lemoine (1) , Maxime Gautier (1)

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

This paper presents two methods for the calibration of the geometric parameters of serial robots. They are based on putting the terminal point of the robot in a plane, only the position sensors of the joints are required. The methods can be put in practice quickly and precisely. Some practical issues concerning their practical use are given.

Mots clés: Robot calibration; geometric parameters; identification

Domaines: Automatique / Robotique

Wisama Khalil, Philippe Lemoine, Maxime Gautier. Autonomous calibration of Robots using planar points. International Symposium on Robotics and Manufacturing, ISRAM'96, May 1996, Montpellier, France. pp. 383-388. ⟨hal-00362605⟩