  The paper is devoted to the geometrical calibration of industrial robots
employed in precise manufacturing. To identify geometric parameters, an
advanced calibration technique is proposed that is based on the non-linear
experiment design theory, which is adopted for this particular application. In
contrast to previous works, the calibration experiment quality is evaluated
using a concept of the user-defined test-pose. In the frame of this concept,
the related optimization problem is formulated and numerical routines are
developed, which allow user to generate optimal set of manipulator
configurations for a given number of calibration experiments. The efficiency of
the developed technique is illustrated by several examples.

Robotics