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Dealing with robot calibration the neglection of joint and driveflexibilities limit the achievable positioning accuracy significantly. Thisproblem is addressed in this paper. A two stage procedure is presented whereelastic deflections are considered for the calculation of the geometricparameters. In the first stage, the unknown stiffness and damping parametersare identified. To this end the model based transfer functions of thelinearized system are fitted to captured frequency responses of the realrobot. The real frequency responses are determined by exciting the systemwith periodic multisine signals in the motor torques. In the second stage,the identified elasticity parameters in combination with the measurements ofthe motor positions are used to compute the real robot pose. On the basis ofthe estimated pose the geometric calibration is performed and the errorbetween the estimated end-effector position and the real position measuredwith an external sensor (laser-tracker) is minimized. In the geometric model,joint offsets, axes misalignment, length errors and gear backlash areconsidered and identified. Experimental results are presented, where amaximum end-effector error (accuracy) of 0.32 mm and for 90 % of the posesa maximum error of 0.23 mm was determined (Stäubli TX90L)

A two-stage calibration method for industrial robots with joint and drive flexibilities