Figure 2
The flowchart illustrates an iterative robotic calibration process using inverse kinematic and direct kinematic models. The process begins with the Input target position P, x, y, z, followed by solving I K M to calculate z subscript a, z subscript b, and z subscript c. The system then moves motor i to a new position z subscript i and reads laser distance sensor values r subscript a, r subscript b, and r subscript c. A calculation step determines d z subscript i, comma i n, using a mathematical expression involving sensor distances and beta subscript i. Position correction of motor i is then calculated as z subscript i asterisk equals d z subscript i, comma i n plus z subscript i n. Decision diamonds check whether z subscript i asterisk equals z subscript i and whether i equals 3. The process loops through recalculation steps until convergence is achieved. The workflow then solves D K M to find corrected position P, x, y, z, asterisk, and checks whether it matches the target position. If successful, the system records point P, x, y, z, and ends the process.Flow chart of the measurement and control software