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Robot Calibration for Cooperative Process under Typical Installation

A method with easy operation procedure and simple calibration condition is presented in this paper to solve the 
base frame calibration problem for cooperative robots. It is carried out through constructing a series of handclasp 
configurations and recording coordinates of the contact points, respectively, in base frame of each robot. Then the rotation 
matrix and translation matrix between base frame of cooperative robots can be calculated which is just the calibration 
result for cooperative robots. Based on typical installation mode for industrial robot, the floor mounted, wall mounted 
and ceiling mounted, constraints between base frames of these robots are further explored. These constraints are 
used to improve the calibration results for base frame calibration problem. In order to validate the correctness and 
effectiveness of our method, experiments on two industrial robots (Motoman VA1400 and HP20) are carried out at the 
end of the paper. The calibration errors are less than 8 mm in most cases, which satisfies the requirement of positioning 
accuracy for most industrial process, such as arc welding, transporting, and cutting. These experiment results assert the 
correctness of our method which can be used effectively to solve the base frame calibration problem for cooperative 
robots in manufacturing process.