Linearized Finite Screw Deviation Model for a Multi-axis Manipulator Calibration

This article proposes a new method for calibrating serial robots using the linearized differential finite screw method. Previous research has extensively explored calibration techniques utilizing end-effector tracking devices, however, these devices often challenges related to cost and installation, making them impractical for all calibration scenarios. Additionally, traditional calibration techniques require continuous end-effector trajectories, necessitating the use of expensive tracking devices like laser trackers. In this research, we introduce a novel linearized finite screw deviation model. This model calculates the error of each axis of the manipulator based on non-continuous points in the end-effector’s trajectory, eliminating the need for continuous tracking. Our method simplifies the calibration process and reduces dependency on costly equipment. To validate the effectiveness of the proposed method, we conducted simulations using a seven-degree-of-freedom manipulator. The results confirm the accuracy of the calibration and demonstrate the potential of the linearized finite screw deviation model. The simulation results validate the proposed method, showcasing its capability to perform precise calibration with non-continuous point data.