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Tools for Robotics in SME Workcells: Challenges and Approaches for Calibration and Registration



Jeremy Marvel, Elena R. Messina, Brian Antonishek, Karl Van Wyk, Lisa J. Fronczek


An overview of the challenges associated with robot workcell calibration and registration is presented, with a particular focus on the challenges faced by small- and medium-sized manufacturing enterprises. Considerations for the barriers to integrating systems-of-systems workcells are described, and the proposed solutions from literature are presented. We discuss the impacts that calibration and registration have on many common robot applications, and highlight specific use cases of robot-sensor and robot-robot system registration.
NIST Interagency/Internal Report (NISTIR) - 8093
Report Number


robot calibration, camera calibration, Robot Hand Calibration, offline programming


Marvel, J. , Messina, E. , Antonishek, B. , Van Wyk, K. and Fronczek, L. (2015), Tools for Robotics in SME Workcells: Challenges and Approaches for Calibration and Registration, NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD, [online],, (Accessed June 15, 2024)


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Created December 9, 2015, Updated October 12, 2021