FIELD: robotics.
SUBSTANCE: invention relates to a method of calibrating robots without using external measurement equipment. Method comprises providing at least two robots, each robot having joints and/or links connecting a base flange and a tool flange, forming a closed chain from at least two robots, wherein connecting flanges of at least two robots do not have a common axis of rotation, act on at least one link or joint in chain, thereby acting other links or joint in chain, and estimating kinematic models for each robot based on sensor information associated with joints of each of at least two robots.
EFFECT: invention enables to simultaneously calibrate several robots without using measurement equipment in addition to robots themselves; by comparing model presentation of a closed chain with multiple physical observations, possible refinement of model parameters and thus performing calibration.
15 cl, 22 dwg, 2 tbl
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