Robotics and automatic control

For modern automated systems that go beyond typical industrial conditions, absolute precision is one of the key properties that make it possible. The main challenge for automated systems is the calibration of robot motion, particularly during the movement of the platform on which it is mounted. In literature, there are several approaches to improving the accuracy of a typical industrial robot mounted on a fixed frame. However, there is no way to improve the accuracy of a robot when it is mounted on a mobile base, which is typical for collaborative (portable) robots. Therefore, this work analyzes various approaches to improving the absolute precision of a robot mounted on a mobile platform, using an optical measurement system.