This paper presents a comparison study on the methods of geometric parameter calibration of robots. The study takes into consideration classical methods, which require measuring the position or location (position and orientation) of the terminal link using external sensors, and self calibration methods, which carry out the calibration of the geometric parameters using only the joint position sensors. This comparison focuses on the identifiable parameters, condition number of the observation matrix, and on the convergence rate of the solution. This study is carried out by simulating the Puma and the Stanford robots, but general conclusions are derived.
展开▼
