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Industrial robots play a vital role in automatic production, which have beenwidely utilized in industrial production activities, like handling and welding.However, due to an uncalibrated robot with machining tolerance and assemblytolerance, it suffers from low absolute positioning accuracy, which cannotsatisfy the requirements of high-precision manufacture. To address this hotissue, we propose a novel calibration method based on an unscented Kalmanfilter and variable step-size Levenberg-Marquardt algorithm. This work hasthree ideas: a) proposing a novel variable step-size Levenberg-Marquardtalgorithm to addresses the issue of local optimum in a Levenberg-Marquardtalgorithm; b) employing an unscented Kalman filter to reduce the influence ofthe measurement noises; and c) developing a novel calibration methodincorporating an unscented Kalman filter with a variable step-sizeLevenberg-Marquardt algorithm. Furthermore, we conduct enough experiments on anABB IRB 120 industrial robot. From the experimental results, the proposedmethod achieves much higher calibration accuracy than some state-of-the-artcalibration methods. Hence, this work is an important milestone in the field ofrobot calibration.

A New Calibration Method for Industrial Robot Based on Step-Size Levenberg-Marquardt Algorithm