Robotrak: calibration on a shoestring

摘要

Examines the problem of the robot and fixture calibration from the perspective of simulation and off‐line programming. Looks at the two basic methods of measuring robot position—optical systems and cable‐driven systems—and describes examples of both of these methods. The Workspace PC‐based robot simulation system and the RoboTrak three‐cable measuring system for calibration are used as examples and compared with other commercial systems, and a calibration case study is presented. Concludes that if the accuracy required by a robot application of the order of 1 mm and the robot program is to be generated by an off‐line software package, then it is necessary to calibrate the robot first.