Review on Kinematics Calibration Technology of Serial Robots

Robot kinematics calibration is of great significance for improving robot absolute pose accuracy, which can be divided into model-based and non-parametric kinematics calibration. For model-based kinematics calibration, kinematics calibration modeling, pose measurement of end-effector, kinematics parameters calibration and error compensation are systematically analyzed. And with the increasing demand for autonomy, the autonomous kinematics calibration is introduced. On the other hand, research status of non-parametric kinematics calibration is elaborated, the advantages and disadvantage of which are discussed respectively On the basis, comprehensive and organized description and summarization of the three kinds of calibrations are given. Overall, aiming at robot kinematics calibration, existing achievements are summarized, a typical calibration process is carried out and calibration precautions are detailed, then calibration results of various methods are compared and analyzed. Finally, existing problems in kinematics calibration are analyzed and development prospects are presented.