In this paper a new method for geometric robot calibration is introduced, which uses a calibration plate with precisely known distances between its measuring points. The relative measurement between two points on the calibration plate is used to determine predefined error parameters of the system. In comparison to conventional measurement methods, like laser tracker or motion capture systems, the calibration plate provides a more mechanically robust and cheaper alternative, which is furthermore easier to transport due to its small size. The calibration method, the plate design, the mathematical description of the error system as well as the identification of the parameters are described in detail. For identifying the error parameters, the least squares method and a constrained optimization problem are used. The functionality of this method was demonstrated in experiments that led to promising results, correlated with one of a laser tracker calibration. The modeling and identification of the error parameters is done for a gantry machine, but is not restricted to that type of robot.

翻译：本文提出了一种新的几何机器人校准方法，该方法采用一块标定板，其测量点之间的间距具有精确已知的距离。通过标定板上两点之间的相对测量，可以确定系统的预定义误差参数。与激光跟踪仪或运动捕捉系统等传统测量方法相比，标定板提供了机械结构更稳固、成本更低的替代方案，且因其体积小巧而更便于运输。本文详细阐述了校准方法、标定板设计、误差系统的数学描述以及参数辨识过程。在误差参数辨识中，采用了最小二乘法与约束优化问题。通过实验验证了该方法的有效性，实验结果与激光跟踪仪校准结果具有良好的一致性，展现出良好的应用前景。误差参数的建模与辨识虽以龙门式机器人为例进行说明，但该方法并不局限于该类型机器人。