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Full-PoseCalibrationofaRobotManipulatorUsingaCoordinate-MeasuringMachineMorrisR.Driels,LtW.SwayzeUSNandLtS.PotterUSNDepartmentofMechanicalEngineering,NavalPostgraduateSchool,Monterey,California,USTheworkreportedinthisarticleaddressesthekinematiccalibrationofarobotmanipulatorusingacoordinatemeasuringmachine(CMM)whichisabletoobtainthefullposeoftheend-effector.Akinematicmodelisdevelopedforthemanipulator,itsrelationshiptotheworldcoordinateframeandthetool.Thederivationofthetoolposefromexperimentalmeasurementsisdiscussed,asistheidentificationmethodology.Acompletesimulationoftheexperimentisperformed,allowingtheobservationstrategytobedefined.Theexperimentalworkisdescribedtogetherwiththeparameteridentificationandaccuracyverification.Theprincipalconclusionisthatthemethodisabletocalibratetherobotsuccessfully,witharesultingaccuracyapproachingthatofitsrepeatability.Keywords:Robotcalibration；Coordinatemeasurement；Parameteridentification；Simulationstudy；Accuracyenhancement1.IntroductionItiswellknownt
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