Chapter 6 — Model Identification

Calibration of ABB's IRB 120 industrial robot

The video depicts the process for the geometric calibration of the 6 DOF IRB 120. The calibration is based on the measurement of the position and the orientation of a tool using the laser tracking system from FARO. The video shows in sequence the steps in the acquisition of various configurations which can then be be employed using an algorithm similar to that of Sect. 6.2.
Ilian Bonev
Thanks to Professor Ilian Bonev