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Article

INDUSTRIAL ROBOT CALIBRATION USING A VIRTUAL LINEAR CONSTRAINT

This paper proposes a systematic method to identify the joint zero offset of industrial robot. Small offset always exist in robot joint, which affect the precision in kinematic equations leading to calculate wrong joint angle values. To solve these problems, the proposed method employs a portable dual Position Sensitive Detector (PSD) device and a focusable laser point (FLP). The portable dual PSD device comprises two fixed PSDs tilted in an angle to reflect the laser line from one PSD to

Biqiang Du, Ning Xi, Erick Nieves

International Journal on Smart Sensing and Intelligent Systems , ISSUE 4, 987–1001

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