par Renders, Jean-Michel ;Rossignol, Eric ;Becquet, Marc ;Hanus, Raymond
Référence IEEE Transactions on Robotics and Automation, 7, 6, page (721-732)
Publication Publié, 1991-12
Article révisé par les pairs
Résumé : A technique is presented for the calibration of robots based on a maximum-likelihood approach for the identification of geometrical errors. A new experimental setup is presented for measurement of the end-effector position errors. The errors of position and orientation of the measuring device are included in the algorithm and identified. Tests have been carried out on a robot with six degrees of freedom. Tests show that this technique can reduce the mean error distance by a factor of more than 15. Compensation algorithms are presented, based on the improved knowledge of the geometrical model.