Development of a Tool Calibration Technique for Robotic Machining Using a Laser Tracker

The article presents a method for improving the accuracy of tool positioning for robotic machining using a laser tracker. The developed approach includes the construction of a local coordinate system of the instrument based on three labels, the determination of the position and orientation of the TCP point in space using matrix transformations, as well as algorithms for correcting the tool's trajectory. The features of tool calibration are described, including taking into account the overhang and angular position of the engraver. The experiments showed a decrease in the error of marking from 1.5 mm to 0.3 mm, which confirms the effectiveness of the proposed approach. The developed methodology and software can be used for robotic processing of complex and voluminous workpieces in various production conditions.