Skip navigation
Please use this identifier to cite or link to this item: https://repositorio.unb.br/handle/10482/25869
Files in This Item:
There are no files associated with this item.
Title: Experimental validation of a 3-D vision-based measurement system applied to robot calibration
Authors: Motta, J. M. S. T.
McMaster, R. S.
Assunto:: Robôs
3-D machine vision
absolute accuracy
robotic measurement systems
Issue Date: 2002
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.
DOI: https://dx.doi.org/10.1590/S0100-73862002000300011
Appears in Collections:Uso interno - em processamento

Show full item record Recommend this item " class="statisticsLink btn btn-primary" href="/handle/10482/25869/statistics">



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.