Experimental validation of a 3-D vision-based measurement system applied to robot calibration

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MetadadosDescriçãoIdioma
Autor(es): dc.creatorMotta, J. M. S. T.-
Autor(es): dc.creatorMcMaster, R. S.-
Data de aceite: dc.date.accessioned2024-07-22T11:57:50Z-
Data de disponibilização: dc.date.available2024-07-22T11:57:50Z-
Data de envio: dc.date.issued2017-12-07-
Data de envio: dc.date.issued2017-12-07-
Data de envio: dc.date.issued2002-
Fonte completa do material: dc.identifierhttp://repositorio.unb.br/handle/10482/25869-
Fonte completa do material: dc.identifierhttps://dx.doi.org/10.1590/S0100-73862002000300011-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/capes/792967-
Descrição: dc.descriptionOne 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.-
Descrição: dc.descriptionEm processamento-
Idioma: dc.languageen-
Publicador: dc.publisherThe Brazilian Society of Mechanical Sciences-
Direitos: dc.rightsAcesso Aberto-
Palavras-chave: dc.subjectRobôs-
Palavras-chave: dc.subject3-D machine vision-
Palavras-chave: dc.subjectabsolute accuracy-
Palavras-chave: dc.subjectrobotic measurement systems-
Título: dc.titleExperimental validation of a 3-D vision-based measurement system applied to robot calibration-
Aparece nas coleções:Repositório Institucional – UNB

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