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This paper describes an industrial robot joint offset calibration method called the virtual line-based single-point constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell...
This paper presents a new line-based calibration method for automatically computing the transformation relationship between industrial robots and workcell. The calibration method mainly depends on the position-sensitive detector (PSD) servo control of the robots. The developed servo controller allows precisely positioning the laser beam (line) from a single laser pointer attached at the end-effector...
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