A calibration framework for industrial robotic work cells

In this paper, a robot accuracy enhancement framework is proposed where localization and calibration techniques are seamlessly integrated and targeted at industrial robotic work cells. The framework focuses on capitalizing on the strengths of one process to compensate for the inherent weakness of the other. Specifically, localization approaches can improve the robot accuracy locally around the compensation pose to high levels via sensor feedback, while calibration improves the nominal robot kinematic model thereby extending the effects of localization to a larger working envelope. In addition, the proposed framework uses localization results as training data for the calibration process without incurring additional measurement costs. A simulation study is conducted to verify the effectiveness of the proposed framework.