This paper presents a calibration algorithm based on Newton’s Method for a robotic system composed of a manipulator and a positioning table. The procedure aims to determine the homogeneous transformation between the robot base and the table by equating the closed kinematic chain of these robots, transforming the calibration problem into a problem of searching for the root of a non-linear equation. The proposed method was tested in a robotic cell for wire arc additive manufacturing (WAAM), which employs different robotic manipulators in the manufacturing process. Additionally, the proposed algorithm was also applied to the extrinsic calibration of a laser sensor used to survey the profile of manufactured parts and mounted on a robotic manipulator. The results demonstrate the efficiency of the Newton Method when applied in different contexts, highlighting its importance as a tool in the calibration process.
