Robotic Calibration Issues: Accuracy, Repeatability and Calibration

The groundwork for a contact calibration methodology using a touch probe is developed for an articulated robot arm. This solution is framed within current calibration and metrology issues in robotics based upon the kinematical mechanical design of a serial link manipulator. Accuracy, repeatability, and resolution are explored and a simplistic approach is taken. This exercise is intended to lay the groundwork for exploring the feasibility of integrating a commercial product such as a force sensor or touch trigger probe on the end of a robot arm. Candidate processes and/or applications are identified. Findings indicate that an inprocess contact calibration methodology that is accurate, repeatable, and cost effective would be a desirable solution.