Multi-Link Kinematic Calibration with Photogrammetry

Industrial robotic arms are fundamental components of modern automated production lines, executing critical tasks such as welding, painting, and assembly. Such high-precision operations often require careful manual tool positioning during the initial setup. To automate and refine this process, a highly accurate kinematic model of the robot is essential. In this paper, the authors propose a novel algorithm for kinematic parameter calibration using photogrammetry to track multiple robot links simultaneously. The proposed multi-link calibration approach provides a more precise parameter estimation and introduces the practical possibility of continuous parameter refinement while the robot executes its primary operational tasks. The superior accuracy and robustness of the proposed methodology are confirmed through comprehensive simulation experiments, and the feasibility of the approach is successfully demonstrated on a real robotic arm.