Serial Robot Kinematic Calibration Using a Novel Linear Finite Screw Deviation Model

Abstract

This letter introduces a novel method for calibrating serial robots using the Linearized Finite Screw Deviation (LFSD) model, aiming to minimize errors within the robot's workspace with a few end-effector postures. In contrast to prior studies that require several end-effector posture measurements, our proposed method presents a more resource-efficient approach suitable for practical applications. The proposed LFSD model stands out by enabling the identification of axis deviations with significantly fewer end-effector points compared to previous studies. This reduction in measurement points not only enhances applicability but also reduces the potential possibilities of noise arising from end-effector measurements. Moreover, the method's simple affine structure extends its applicability to the calibration of redundant robots. To validate the effectiveness of our proposed method, simulations and experiments with wire-encoder-based stereotactic devices were conducted on serial robots with five and six degrees of freedom.