Maximum Allowable TCF Calibration Error for Robotic Pose Servoing

Robotic pose servoing aims to move the robot end-effector to the target pose. Closed-loop servo systems can tolerate a small TCF (tool control frame) calibration error and accurately reach the target pose through multiple pose measurements and pose adjustments. However, the maximum allowable TCF calibration error remains an open question. This paper demonstrates that the necessary condition for robotic pose servoing is a TCF calibration error angle of less than 60 degrees, with no limit on the translational component of the TCF calibration error. Next, an improved pose servoing method is proposed to address the conflict between the large TCF error and the limited robot workspace. This method introduces a scaling factor to limit the adjustment range within the robot workspace, ensuring greater robustness. Finally, robot-assisted cabin docking is selected as an experimental validation case. Simulation and physical experiments validate the maximum allowable TCF calibration error. Comparative experiments confirm the robustness of the improved pose servoing method, achieving cabin docking despite significant TCF calibration errors.