Survey on robot kinematics calibration

Abstract

This paper presented an overview of the robot kinematics calibration methods and research status from three as- pects:geometrical parameter calibration based on kinematics model,robot self-calibration,forward and inverse calibration based on neural network.To each calibration approach,also discussed the calibration characteristics,existing problems and research status particularly.Finally,proposed calibration of multi-robot operation system and development directions of robot calibration.