5. Calibration methods
5.1 Different calibration methods and levels
The general principle of a calibration method can be explained by considering the equation linking the operational coordinates of the robot's tool center to those of its real joint values.
the tool center is a specific point determined in the robot's terminal frame of reference. It corresponds to the origin of the coordinate system of the tool carried by the robot.
If R n +1 is the frame of reference linked to the robot's CDO and R –1 is the frame of reference of the robot cell (generally the robot's base frame of reference), this equation can be...
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Calibration methods
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