Fundamentals of Manipulator Calibration

This study deals with the subject of how to improve robot accuracy through the process known as calibration. Robot inaccuracy is considered to be a major hurdle in achieving a fully automated manufacturing process. The book provides comprehensive treatment of the subject of calibration both at the theoretical level, and from the point of view of performing the experiments needed to obtain calibration data. The material is presented in the sequence that normally takes place in the calibration process: modelling, measurement, identification and implementation. Considerable experimental data and case studies are included.