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Autonomous kinematic calibration for robot with force sensor

This paper presents an autonomous calibration procedure for identifying robot geometric parameters using a wrist force sensor, which guides the robot end effector to track the section contour of an accurately cylindrical workpiece and to find its center. The information from the wrist sensor is needed to determine the motion direction for the end effector and to generate control strategy (hybrid control law of position and force), meanwhile the force vector is required to correct the deformation of the manipulator, which maps in turn into the joint differential vector. The system of constraint equation is in fact nonlinear, and can be linearized for the constraint surface of the cylinder. Simulation has been performed for a PUMA 760 robot and the result shows that the robot positioning accuracy can be improved to the level of the repeatability by the proposed calibration method.