Replication Data for: Simple Estimation Algorithm for Laser Tracker Localization in Industrial Robot Calibration

Laser trackers are important for enhancing the positioning precision of industrial robots, which generally experience positioning inaccuracies. The algorithm meets the requirement for accurate kinematic models to guarantee the visibility of the laser target and facilitate precise calibration.

The approach employs singular value decomposition (SVD) along with two identification paths to assess the transformation from the laser tracker to the robot's reference frame. Experimental testing on a KUKA KR210-2 robot shows the method's precision, resulting in an average positioning error of 2.002 mm and a highest error of 5.040 mm in novel test positions. The method reduces dependence on stationary calibration fixtures, streamlines configuration, and readily adjusts to modifications in the laser tracker’s location.