#5582. Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation

July 2026publication date
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Journal’s subject area:
Engineering
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Abstract:
We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimation of the end effector parameters, joint offsets of the manipulators, and calibration of the complete kinematic chain (DH parameters). The results are compared with ground truth measurements provided by a laser tracker.
Keywords:
Automatic robot calibration; Kinematic calibration; Self-calibration; Self-contact; Self-contained calibration; Self-observation

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