A contactless robot kinematic calibration method by digital photogrammetry

A technique to obtain the kinematic calibration of multilink systems is presented. The technique that is based on a digital photogrammetry vision system and the D-H based kinematic equations, can be considered as a reverse engineering aspect. The most important aspects of this technique consist in that no information on the kinematics chain is needed, it is fast, low cost, non invasive and also friendly for the operator. Tests of the technique on a revolute robot are also reported, showing a good reliability of the technique itself.