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dc.contributor.authorMotta, J. M. S. T.pt_BR
dc.contributor.authorMcMaster, R. S.pt_BR
dc.identifier.citationJ. Braz. Soc. Mech. Sci.,v.24,n.3,p.220-225,2002pt_BR
dc.description.abstractOne 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.pt_BR
dc.publisherThe Brazilian Society of Mechanical Sciencespt_BR
dc.rightsAcesso Abertopt_BR
dc.titleExperimental validation of a 3-D vision-based measurement system applied to robot calibrationpt_BR
dc.subject.keyword3-D machine visionpt_BR
dc.subject.keywordabsolute accuracypt_BR
dc.subject.keywordrobotic measurement systemspt_BR
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