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Journal of Applied Mathematics
Volume 2014, Article ID 576420, 12 pages
Research Article

Robot Calibration for Cooperative Process under Typical Installation

1School of Automation, Southeast University, Nanjing 210096, China
2Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, China

Received 3 November 2013; Accepted 11 March 2014; Published 24 April 2014

Academic Editor: Olabisi Falowo

Copyright © 2014 Yahui Gan et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A method with easy operation procedure and simple calibration condition is presented in this paper to solve the base frame calibration problem for cooperative robots. It is carried out through constructing a series of handclasp configurations and recording coordinates of the contact points, respectively, in base frame of each robot. Then the rotation matrix and translation matrix between base frame of cooperative robots can be calculated which is just the calibration result for cooperative robots. Based on typical installation mode for industrial robot, the floor mounted, wall mounted and ceiling mounted, constraints between base frames of these robots are further explored. These constraints are used to improve the calibration results for base frame calibration problem. In order to validate the correctness and effectiveness of our method, experiments on two industrial robots (Motoman VA1400 and HP20) are carried out at the end of the paper. The calibration errors are less than 8 mm in most cases, which satisfies the requirement of positioning accuracy for most industrial process, such as arc welding, transporting, and cutting. These experiment results assert the correctness of our method which can be used effectively to solve the base frame calibration problem for cooperative robots in manufacturing process.