Dynamic calibration of industrial robots with inertial measurement systems

accuracy, inertial navigation. Industrial robots require a high path accuracy for demand-ing continuous path-control tasks. In this publication we will present a new method which improves the path ac-curacy of industrial robots according to ISO 9283. This dynamic calibration is realized by means of a model based precontrol and corrects on-line the desired joint positions. For the identication of the model parameters of the pre-control the robot's path deviations are directly measured o-line at the end eector with an inertial measurement system. The experimental results presented here prove the eciency of this dynamic calibration procedure.