|Title:||Experimental validation of a 3-D vision-based measurement system applied to robot calibration|
|Authors:||Motta, J. M. S. T.|
McMaster, R. S.
3-D machine vision
robotic measurement systems
|Publisher:||The Brazilian Society of Mechanical Sciences|
|Citation:||J. Braz. Soc. Mech. Sci.,v.24,n.3,p.220-225,2002|
|Abstract:||One of the problems that slows the development of off-line programming is the low static and dynamic positioning accuracy of robots. Robot calibration improves the positioning accuracy and can also be used as a diagnostic tool in robot production and maintenance. A large number of robot measurement systems are now available commercially. Yet, there is a dearth of systems that are portable, accurate and low cost. In this work a measurement system that can fill this gap in local calibration is presented. The measurement system consists of a single CCD camera mounted on the robot tool flange with a wide angle lens, and uses space resection models to measure the end-effector pose relative to a world coordinate system, considering radial distortions. Scale factors and image center are obtained with innovative techniques, making use of a multiview approach. The target plate consists of a grid of white dots impressed on a black photographic paper, and mounted on the sides of a 90-degree angle plate. Results show that the achieved average accuracy varies from 0.2mm to 0.4mm, at distances from the target from 600mm to 1000mm respectively, with different camera orientations.|
|Appears in Collections:||Uso interno - em processamento|
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