Kinematic Calibration of Industrial Robots Based on Distance Information Using a Hybrid Identification Method

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_left">Algorithm</td><td class="align_center">Max (mm)</td><td class="align_center">Mean (mm)</td><td class="align_center">RMS (mm)</td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">Before compensation</td><td class="align_center">—</td><td class="align_center">1.2612</td><td class="align_center">0.4827</td><td class="align_center">0.5791</td></tr><tr><td class="align_left" rowspan="3">After compensation</td><td class="align_center">LS</td><td class="align_center">0.3236</td><td class="align_center">0.1120</td><td class="align_center">0.1376</td></tr><tr><td class="align_center">EKF</td><td class="align_center">0.3255</td><td class="align_center">0.1352</td><td class="align_center">0.1653</td></tr><tr><td class="align_center">EKF + RPF</td><td class="align_center">0.2404</td><td class="align_center">0.0780</td><td class="align_center">0.0936</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The distance error of robot before and after compensation by 3 different algorithms.</div>

Complexity

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Table 3

Table 3: Kinematic Calibration of Industrial Robots Based on Distance Information Using a Hybrid Identification Method 