Kinematic Calibration of a Serial Robotic Arm Using a Linear Movement Constraint

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DiCola, Katharine Nancy




Kinematic calibration of a robot arm is necessary for the performance of many tasks. The calibration process is frequently a tradeoff between affordability and accuracy. In this thesis, a method is developed to calibrate a robotic arm using relatively inexpensive optical sensors. A simulation of the calibration process is developed that shows accurate determination of angular offsets in the robot model is possible. These offsets account for the majority of error in robot movement. This method was performed on two industrial robotic arms: a Fanuc S-420iF and a Motoman MH-180. The joint angle offsets were determined in each case, though accuracy was lower in practice than in simulation. The method was deemed to be potentially viable for identifying joint angle offsets. With some modifications, it may also be viable for identifying link twist offsets.






Carleton University

Thesis Degree Name: 

Master of Applied Science: 

Thesis Degree Level: 


Thesis Degree Discipline: 

Engineering, Mechanical

Parent Collection: 

Theses and Dissertations

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