Investigates robot calibration with planar constraints, and in particular the conditions for the
parameters of the robot kinematic model to be observable. Mainly multiple-plane constraints
for robot calibration are considered. It is first shown that a single-plane constraint is normally
not sufficient to calibrate a robot. It is also proven that by using a three-plane constraint, the
constrained system is equivalent to an unconstrained point-measurement system under
certain conditions. The significance of this observation is that one can use the three-plane …

This paper investigates issues related to robot calibration with planar constraints and, in
particular observability conditions for the parameters of the kinematic model of the robot.