Accuracy enhancements of industrial robots through close-range photogrammetry

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Industrial robots are highly repeatable. Once the pose of a robot's end-effector has been manually taught, the robot end-effector can move to that pose over and over again with a position error that is typically smaller than 0.050 mm. However, the accuracy of industrial robots is relatively poor. If the robot's end-effector is required to move to a pre-calculated pose (as in offline programming), its position error may reach a couple of millimetres. Fortunately, a technique known as robot calibration allows improving the accuracy of industrial robots. Calibrated industrial robots are already being used in many aerospace applications such as deburring, polishing, drilling, and fastening. However, there is still a need for reducing the cost of robot calibration and for further improving the accuracy of robots, which can be done through developing more effective calibration techniques and using affordable but well-adapted metrology equipment.