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.

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 written...