Geometric Calibration of Robots Using Multiple Plane Constraints

Abstract

This paper revisits the problem of the calibration of the geometric parameters of robots using plane constraint methods. Although such methods have been studied by many authors, there exist some ambiguities concerning the identifiable parameters and the number of required planes. This study shows that, for a robat with revolute joints only, four planes are necessary to obtain the same identifiable pnrameters as the open-loop method using the Cartesian coordinates of the terminal point as calibration data, while three planes are sufficient for II robot with at least one prismatic joint. Experimental results, are given for a Puma 560 robot.