Robot geometrical calibration aims at reducing the global positioning accuracy of a robotic arm by correcting the theoretical values of the kinematic parameters. A novel method for the geometrical calibration of robotic arms used in industrial applications is proposed. The proposed approach mainly focuses on the final positional accuracy of the robotic tool center point (TCP) when executing an industrial task rather than on the accurate estimation of the kinematic parameters themselves, as done so far by many calibration methods widely discussed in literature. A real industrial use-case is presented, and the steps of the proposed calibration procedure for the robotic arm are described. Experimental methodology and results for the identification of geometrical parameters are also discussed. A practical validation of the final positional accuracy of the robotic arm (after kinematic calibration) was performed, and experimental results validated the proposed procedure, proving its feasibility and effectiveness in the considered industrial scenario.

机器人几何标定旨在通过校正运动学参数的理论值来降低机械臂的整体定位精度。提出了一种用于工业应用的机械臂几何校准的新方法。所提出的方法主要着眼于执行工业任务时机器人工具中心点（TCP）的最终位置精度，而不是到目前为止运动学参数本身的准确估计，正如迄今为止在文献中广泛讨论的许多校准方法所做的那样。提出了一个实际的工业用例，并描述了针对机器人手臂提出的校准程序的步骤。还讨论了用于识别几何参数的实验方法和结果。