|R. Caracciolo, P. Gallina, A. Gasparetto, A. Rossi|
|A New, Transportable and Low Cost Method for Robot Calibration|
|Proceedings of the Tenth IFToMM World Congress on the Theory of Machines and Mechanisms, Oulu, Finland, 20-24 June1999|
Abstract: In this paper a new robot kinematic calibration method is presented. With respect to the other tools proposed in the literature, it uses a low cost and transportable apparatus, consisting in a flexible wire connected to the end-effector and to a light weight. The measuring procedure is easy to execute. After the presentation and the description of the method, the CPC model used in the kinematic analysis is discussed, and its advantages and limits are stressed by means of simulation data. The work has been completed with the construction of a reliable and very accurate prototype.