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Updated: Aug 5, 2026

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Published on: April 10, 2011
Comprehensive Review of Calibration Techniques for Serial Link Manipulators: Insights Into Mathematical and
Abstract:
This article reviews geometric calibration methods for serial link manipulators, focusing on improving their absolute positioning accuracy. The review highlights key calibration steps, including model selection, data acquisition, and parameter identification, and emphasizes the role of measurement and optimization. The review compares traditional geometric models with advanced nonminimal parameterizations, highlighting their respective advantages. It also examines modern data acquisition techniques using optical systems, fiducial markers, and simultaneous localization and mapping (SLAM), alongside optimization strategies for parameter refinement. This article also outlines current challenges and future directions. This review supports researchers and practitioners in developing applications that require precise robot calibration.
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