Comprehensive Review of Calibration Techniques for Serial Link Manipulators: Insights Into Mathematical and...

Area of Science:

• Robotics
• Mechanical Engineering
• Metrology

Background:

• Serial link manipulators require precise calibration for accurate absolute positioning.
• Existing calibration methods face challenges in achieving high accuracy.

Purpose of the Study:

• To review geometric calibration methods for serial link manipulators.
• To enhance understanding of techniques for improving absolute positioning accuracy.

Main Methods:

• Review of geometric calibration steps: model selection, data acquisition, parameter identification.
• Comparison of traditional geometric models and advanced nonminimal parameterizations.
• Examination of modern data acquisition (optical systems, SLAM) and optimization strategies.

Main Results:

• Key calibration steps and their importance in measurement and optimization are highlighted.
• Advantages of different model parameterizations are discussed.
• Modern data acquisition and optimization techniques offer improved accuracy.

Conclusions:

• Geometric calibration is crucial for precise robot positioning.
• Advanced methods and modern data acquisition techniques are vital for future applications.
• The review provides insights for researchers and practitioners in robot calibration.