Robot calibration

Level-1 calibration only models differences between actual and reported joint displacement values, (also known as mastering).

Absolute positioning accuracy is particularly relevant in connection with robot exchangeability and off-line programming of precision applications.

The international standard ISO 9283[4] sets different performance criteria for industrial robots and suggests test procedures in order to obtain appropriate parameter values.

Repeatability is particularly important when the robot is moved towards the command positions manually ("Teach-In").

Here especially the joint offsets and deviations in lengths and angles between the individual robot links take effect.

Furthermore, there are camera systems which can be attached in the robot's cell or at the IR mounting plate and acquire the pose of a reference object.

Measurement and calibration systems are made by such companies as Bluewrist, Dynalog, RoboDK, FARO Technologies, Creaform, Leica, Cognibotics, Metris, Metronor, Wiest, Teconsult[5] and Automated Precision.

In the figure, a current example is shown: In-line measurement in automotive manufacturing, where the common "measurement tunnel" used for 100% inspection with many expensive sensors are partly replaced by industrial robots that carry only one sensor each.