*Article* **Using Full Pose Measurement for Serial Robot Calibration**

**Marek Franaszek \* and Jeremy A. Marvel**

Intelligent Systems Division, National Institute of Standards and Technology, Gaithersburg, MD 20899, USA; jeremy.marvel@nist.gov

**\*** Correspondence: marek.franaszek@nist.gov

**Abstract:** To ensure smooth robot operations, parameters of its kinematic model and a registration transformation between robot base and world coordinate frame must be determined. Both tasks require data acquired by external sensors that can measure either 3D locations or full 6D poses. We show that use of full pose measurements leads to much smaller robot orientation errors when compared with the outcome of calibration and registration procedures based on 3D data only. Robot position errors are comparable for both types of data. The conclusion is based on extensive simulations of 7 degrees of freedom robot arm and different levels of pseudo-noise perturbing both positional and rotational components of pose.

**Keywords:** robot calibration; robot remastering; calibration uncertainty; part probing; uncertainty reduction; sensor feedback
