The absolute accuracy of an ABB IRB 1600 industrial robot is improved using a 29-
parameter calibration model, developed after extensive experimentation. The error model
takes into account all possible geometric errors (25 geometric error parameters to be
identified through optimization, in addition to the pose parameters for the base and tool
frames and four error parameters related to the compliance in joints 2, 3, 4 and 5). The least
squares optimization technique is used to find the 29 error parameters that best fit the …