Online Calibration of Industrial Robots using Inertial Sensors

Inhalt:
Industrial Robots typically have an absolute accuracy in the range of millimeters and a repeatability in the range of tenths of a millimeter. The absolute accuracy can be improved towards the repeatability of the robot by calibration. The calibration values change over time for several reasons. On the long term it can be influenced by wear, crashes and maintenance, on the short term it is mainly influenced by temperature drift. State of the art calibration is done offline at fixed times. In this paper a method for online calibration of robots for medium accuracy and an online verification for high accuracy using inertial sensors is proposed.