Robot Calibration for Cooperative Process under Typical Installation

Table 1

Robot calibration results and comparisons.

𝐇tru	𝐇calib1	𝑒tran1 (mm)	𝑒rot1; (°)	𝐇calib2	𝑒tran2 (mm)	𝑒rot2; (°)
(37.9,1476.5,54.5,−0.001,0.001,−44.500)	(43.6,1475.4,58.8,0,−0.167,−44.593)	5.7	0.167	(43.8,1475.6,58.2,0,0,−44.593)	5.9	0.093
(37.9,1476.5,54.5,−0.001,0.001,−44.500)	(33.5,1477.8,51.4,0,−0.352,−44.632)	4.5	0.352	(42.7,1476.8,57.7,0,0,−44.631)	4.8	0.131
(37.9,1476.5,54.5,−0.001,0.001,−44.500)	(42.2,1475.1,55.5,0,0.070,−44.532)	4.3	0.070	(33.5,1477.6,52.8,0,0,−44.536)	4.4	0.036
(37.9,1476.5,54.5,−0.001,0.001,−44.500)	(34.9,1477.9,47.5,0,−0.178,−44.601)	7.2	0.178	(43.8,1474.9,56.3,0,0,−44.600)	5.9	0.100
(37.9,1476.5,54.5,−0.001,0.001,−44.500)	(29.1,1477.6,47.8,0,0.144,−44.385)	8.8	0.147	(30.1,1479.4,51.8,0,0,−44.384)	7.8	0.116
(1500.1,500.0,1499.9,0,180.001,0.001)	(1501.4,508.6,1496.2,0,−179.941,−0.312)	8.6	0.312	(1500.4,506.3,1498.4,0,180,−0.312)	6.3	0.312
(1500.1,500.0,1499.9,0,180.001,0.001)	(1499.1,505.0,1498.6,0,179.979,−0.163)	5.0	0.163	(1499.5,503.3,1499.2,0,180,−0.163)	3.3	0.163
(1500.1,500.0,1499.9,0,180.001,0.001)	(1501.9,492.0,1501.8,0,−179.946,0.273)	8.0	0.273	(1501.0,494.6,1501.2,0,180,0.273)	5.4	0.273
(1500.1,500.0,1499.9,0,180.001,0.001)	(1498.5,503.9,1499.9,0,179.947,−0.157)	3.9	0.157	(1499.4,503.0,1499.5,0,180,−0.157)	3.0	0.157
(1500.1,500.0,1499.9,0,180.001,0.001)	(1498.7,511.9,1496.1,0,179.982,−0.372)	11.9	0.372	(1499.0,507.4,1498.2,0,180,−0.372)	7.4	0.372
(1303.3,−102.3,1386.3,180,89.874,−179.997)	(1307.8,−97.8,1380.1,−179.695,89.726,179.686)	6.2	0.312	(1303.6,−97.8,1383.3,−179.695,90,179.686)	4.5	0.311
(1303.3,−102.3,1386.3,180,89.874,−179.997)	(1305.2,−101.2,1384.0,−179.952,89.753,179.890)	2.3	0.121	(1301.5,−101.2,1387.0,−179.952,90,179.890)	1.8	0.126
(1303.3,−102.3,1386.3,180,89.874,−179.997)	(1308.6,−99.7,1380.0,−179.650,89.629,179.547)	6.3	0.450	(1306.1,−99.7,1386.7,−179.650,90,179.547)	2.8	0.449
(1303.3,−102.3,1386.3,180,89.874,−179.997)	(1307.9,−100.4,1381.8,−179.804,89.694,179.794)	4.6	0.203	(1305.8,−100.4,1387.4,−179.804,90,179.794)	2.5	0.202
(1303.3,−102.3,1386.3,180,89.874,−179.997)	(1307.6,−101.2,1382.5,−179.782,89.749,179.604)	4.3	0.393	(1305.7,−101.2,1387.1,−179.782,90,179.604)	2.4	0.393