In many manufacturing applications, such as automated drilling or inspection of large parts, accurate knowledge of both position and orientation is critical. In this paper, a method for reducing robot end-effector position and orientation error is presented. Experimental results show that the method can reduce the median position error by 97% (to 0.3 mm) and the median orientation error by 57% (to 0.27 deg). Limitations of the method caused by the hand-eye calibration are discussed.
2019 IEEE International Symposium on RObotic and SEnsors Environments (ROSE). ROSE 2019
June 17-18, 2019
robot localization error, hand-eye calibration, rigid-body registration, volumetric error compensation, accuracy, repeatability