CALIBRATION AND ACCURACY OF MANIPULATION ROBOT MODELS - AN OVERVIEW

In this paper, recent research results in the field of calibration and accuracy of kinematic and dynamic models for manipulation robots are presented. The paper surveys kinematic models suitable for calibration, i.e. models which are able to express deviations due to errors in machining and assembly of robot links. Results in modeling of gear transmission nonlinearities, as well as modeling the influence of elastic deformations of links are also presented. Special attention is paid to results in measurement and identification of parameters of robot mechanisms, as well as to compensation of positioning errors introduced by the differences between the actual robot and the idealized (nominal) kinematic robot model. The paper additionally overviews current results in analysis of dynamic accuracy, i.e. the accuracy of dynamic robot models, a subject on which the authors of this paper have also begun a systematic study.