Abstract
Calibration of robot manipulators to obtain their DH parameters is very important to achieve high absolute accuracy. In this study, we propose a calibration method in which we use a laser displacement sensor attached on the end-effector of a robot to be calibrated; the robot aims at two fixed points with the laser in multiple configurationsand DH parameters of the robot are obtained as a result of nonlinear optimization.This method is based on one by Gatla et al., in which a laser pointer is used instead.Using additional distance information obtained from the sensor,our proposed method can achieve more accurate and practicalcalibration than the previous method. Some experimental resultson an industrial manipulator are shown.
