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The paper focuses on the calibration of serial industrial robots usingpartial pose measurements. In contrast to other works, the developed advancedrobot calibration technique is suitable for geometrical and elastostaticcalibration. The main attention is paid to the model parameters identificationaccuracy. To reduce the impact of measurement errors, it is proposed to usedirectly position measurements of several points instead of computingorientation of the end-effector. The proposed approach allows us to avoid theproblem of non-homogeneity of the least-square objective, which arises in theclassical identification technique with the full-pose information. Thedeveloped technique does not require any normalization and can be efficientlyapplied both for geometric and elastostatic identification. The advantages of anew approach are confirmed by comparison analysis that deals with theefficiency evaluation of different identification strategies. The obtainedresults have been successfully applied to the elastostatic parametersidentification of the industrial robot employed in a machining work-cell foraerospace industry.

Advanced robot calibration using partial pose measurements