An overview of calibration technology of industrial robots

• Published in: IEEE/CAA journal of automatica sinica Vol. 8; no. 1; pp. 23 - 36
• Main Authors: Li, Zhibin, Li, Shuai, Luo, Xin
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.01.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); School of Computer Science and Technology, Dongguan University of Technology, Dongguan, Guangdong 523808; School of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China%Department of Electronics and Electrical Engineering, Swansea University, Swansea SA18EN, UK%School of Computer Science and Technology, Dongguan University of Technology, Dongguan, Guangdong 523808, the Hengrui (Chongqing) Artificial Intelligence Research Center, Department of Big Data Analyses Techniques, Cloudwalk, Chongqing 401331, China; Department of Electronics and Electrical Engineering, Swansea University, Swansea SA18EN, UK
• Subjects: Automation; Calibration; Continuous improvement; Identification methods; Industrial robots; Kinematics; Parameter estimation; Parameter identification; Production lines; Robot kinematics; Robot sensing systems; Robots; Service robots; Spraying; identification method; Absolute pose accuracy; robot parameters; robot calibration technology; industrial robots; parameter identification
• ISSN: 2329-9266; 2329-9274
• DOI: 10.1109/JAS.2020.1003381

With the continuous improvement of automation, industrial robots have become an indispensable part of automated production lines. They widely used in a number of industrial production activities, such as spraying, welding, handling, etc., and have a great role in these sectors. Recently, the robotic technology is developing towards high precision, high intelligence. Robot calibration technology has a great significance to improve the accuracy of robot. However, it has much work to be done in the identification of robot parameters. The parameter identification work of existing serial and parallel robots is introduced. On the one hand, it summarizes the methods for parameter calibration and discusses their advantages and disadvantages. On the other hand, the application of parameter identification is introduced. This overview has a great reference value for robot manufacturers to choose proper identification method, points further research areas for researchers. Finally, this paper analyzes the existing problems in robot calibration, which may be worth researching in the future.