Calibration of a measuring robot: Experimental results on a 5 DOF structure

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Abstract
An original method for the static calibration of robots using the pose matching approach is presented. Three algorithms for the identification of the structural parameters are investigated. The procedure includes a methodology to automatically remove the unnecessary parameters for the robot under analysis. After a theoretical introduction, the methodology is practically applied to an actual 5 DOF measuring robot used in a shoe manufactory industry. The accuracy of the robot is increased up to its repeatability. © 2001 John Wiley & Sons, Inc.