Base frame calibration for multi-robot coordinated systems

摘要

It is well-known that industrial robots are not very accurate. Robot calibration, which is one of the key techniques in robot off-line programming (OLP) as well as in robotics, is very helpful to increase the accuracy of robot motion. To solve the problem of base frame calibration for coordinated multi-robot systems, this paper proposes a simple and practical method, which is improved by three points calibration. It determines the base frame relationship for multi-robot systems. With laser sensors and a buzzer, the degree of accuracy has been enhanced. In order to integrate the process and the algorithm of the calibration method, a software has been developed. Experiment results have verified the validity and effectiveness of the proposed method.