Robocal—the IPK robot calibration package

Abstract

Describes a robot calibration package which produces a set of identified robot model parameters. Uses a measurement target mounted on the robot’s end effector and a pair of theodolites under automatic control. Typically permits the global positioning error of a robot to be reduced from 10 mm to 1mm. Concludes that calibration procedures such as these are essential for successful off‐line programming of robot systems.