Robot calibration
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Robot calibration is the process of identifying and correcting errors in a robot's geometric and dynamic parameters—such as link lengths, joint offsets, and mass properties—so that its actual behavior matches its mathematical model. In robotics, calibration typically involves four stages: building an accurate kinematic or dynamic model, measuring the robot's actual pose or motion using external sensors (laser trackers, vision systems, or ballbars), identifying the parameter errors through optimization algorithms, and compensating for those errors in the controller. Both serial manipulators and parallel mechanisms require calibration, and techniques range from forward kinematic methods to self-calibration approaches that close kinematic loops without external references. Robot calibration matters because even small manufacturing tolerances and assembly imperfections can cause significant positioning errors that degrade performance in precision-critical applications like machining, assembly, and surgical robotics. By systematically quantifying and correcting these deviations, calibration dramatically improves absolute positioning accuracy, repeatability, and overall reliability, enabling robots to meet the tight tolerances demanded by modern industrial and research environments.
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An overview of robot calibration
Zvi S. Roth, B. W. Mooring, Bahram Ravani
Citations: 503 • 1987
Fundamentals of manipulator calibration
Citations: 430 • 1992
Dynamic Model Identification for Industrial Robots
Jan Swevers, Walter Verdonck, Joris De Schutter
Citations: 393 • 2007
Modeling and Identification of an Industrial Robot for Machining Applications
Eberhard Abele, Matthias Weigold, Stefan Rothenbücher
Citations: 317 • 2007
Industrial Robot Forward Calibration Method and Results
Daniel E. Whitney, C. Lozinski, J. M. Rourke
Citations: 315 • 1986
An adaptive dynamic controller for autonomous mobile robot trajectory tracking
Felipe N. Martins, Wanderley Cardoso Celeste, Ricardo Carelli, Mário Sarcinelli-Filho, Teodiano Bastos-Filho
Citations: 295 • 2008
Introduction to robotics analysis, systems, applications
Citations: 288 • 2002
The Calibration Index and Taxonomy for Robot Kinematic Calibration Methods
John M. Hollerbach, Charles W. Wampler
Citations: 280 • 1996
An Overview of Robot Calibration
A.Y. Elatta, Li Pei Gen ., Fan Zhi, Daoyuan Yu, Fei Luo
Citations: 254 • 2003
Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach
Zeng‐Guang Hou, An‐Min Zou, Long Cheng, Min Tan
Citations: 242 • 2009
Simultaneous robot/world and tool/flange calibration by solving homogeneous transformation equations of the form AX=YB
Hanqi Zhuang, Zvi S. Roth, R. Sudhakar
Citations: 228 • 1994
A Soft, Steerable Continuum Robot That Grows via Tip Extension
Tania K. Morimoto, Allison M. Okamura, Elliot W. Hawkes
Citations: 228 • 2018
Determination of Optimal Measurement Configurations for Robot Calibration Based on Observability Measure
Jin-Hwan Borm, Chia-Hsiang Meng
Citations: 225 • 1991
Nongeometric error identification and compensation for robotic system by inverse calibration
Chunhe Gong, Jingxia Yuan, Jun Ni
Citations: 211 • 2000
Self-calibration of parallel mechanisms with a case study on Stewart platforms
Hanqi Zhuang
Citations: 210 • 1997
Local POE model for robot kinematic calibration
I‐Ming Chen, Guilin Yang, Chee Tat. Tan, Song Huat Yeo
Citations: 209 • 2001
Posture optimization methodology of 6R industrial robots for machining using performance evaluation indexes
Yang Lin, Huan Zhao, Han Ding
Citations: 192 • 2017
Modeling, Identification & Control of Robots
Wisama Khalil, Etienne Dombre
Citations: 190 • 2001
Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments
Yier Wu, Alexandr Klimchik, Stéphane Caro, Benoît Furet, Anatol Pashkevich
Citations: 189 • 2015
A New Kind of Accurate Calibration Method for Robotic Kinematic Parameters Based on the Extended Kalman and Particle Filter Algorithm
Zhihong Jiang, Weigang Zhou, Hui Li, Mo Yang, Wencheng Ni, Qiang Huang
Citations: 187 • 2017