Simulation of a serial robot calibration through screw theory

Abstract

Robot manipulators are essential in tasks in which speed, accuracy and repeatability are required. As the increasing of data needed (end effector posture, speed and acceleration) to complete a specific task, the robot offline programming is necessary. But, the biggest issue around these procedures is the difference between the nominal robot model and the real one. So, the calibration of these kinds of mechanisms is important. This paper presents an alternative way to represent the kinematic model through screw theory and its calibration, considering joint offsets and link deviation. The simulation result shows, for each kinematic parameter, values which reduce the end effector posture error of a serial manipulator.