A calibrated robot has a higher absolute positioning accuracy than an uncalibrated one, i.e., the real position of the robot end-effector corresponds better to the position calculated from the mathematical model of the robot. Absolute positioning accuracy is particularly relevant in connection with robot exchangeability and off-line programming of precision applications. Besides the calibration of the robot, the calibration of its tools and the work pieces it works with (the so-called cell calibration) can minimize occurring inaccuracies and improve process security. Usually, robot errors come from geometric errors (link length) and non-geometric errors (link compliance). In this repository, elastostatic calibration is implemented to identify the calibrated links compliances.
Run main_elastostatic_calib.m file for calculations and visualization.