Absolute calibration of an ABB IRB 1600 robot using a laser tracker

► A practical calibration procedure for industrial robots is presented in detail. ► The procedure is based on the use of a laser tracker and at least 3 measurement points. ► The method is validated on an ABB IRB 1600 robot in 1,000 arbitrary robot configurations. ► The mean/maximum position errors of this robot are reduced to 0.364 mm/0.696 mm.