<title>Estimation of robot parameters using optical sensors</title>

Abstract

The paper is devoted to robot accuracy improvement via calibration and contains correspondent algorithms, hard- and software description. The experimental part of this work has been performed with PUMA robots. The hardware includes a sensor unit mounted on the robot arm consisting of a CCD camera and four optical proximity sensors. The proposed algorithm is based on an integral estimate of straight path distortions and minimization of them by altering the parameters of the robot model.