Kinematic calibration is necessary to enhance the accuracy of robotic manipulators. It is typically desired to perform this task in both a cost-effective and time-efficient manner. Many techniques exist in the literature that achieve both goals using absolute measurements. In this paper, a modified model-based kinematic calibration method using optically obtained relative measurements is developed and implemented on a 7 DOF WAM Arm. Results indicate that it is capable of achieving approximately the same level of accuracy as some absolute measurement methods. Moreover, the calibration method presented in this paper leads to quantifiable improvement in both the positioning and orienting accuracy. The implication is that the relative measurement concept is a valid tool for modelbased kinematic calibration of serial manipulators, and the results presented herein are it's first empirical validation.

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Keywords Calibration, Hand-eye calibration, Kinematics, Parameters estimation, Relative measurements, Robotics, Serial manipulators
Persistent URL
Conference 14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015
Lu, D.C.-C. (David Chao-Chia), & Hayes, M.J.D. (2015). Robot calibration using relative measurements. In 2015 IFToMM World Congress Proceedings, IFToMM 2015. doi:10.6567/IFToMM.14TH.WC.OS13.030