Enhanced absolute accuracy of an industrial milling robot using stereo camera system

被引：28
|
作者：
Moeller, Christian [1 ]
Schmidt, Hans Christian [2 ]
Shah, Nihar Hasmukhbhai [1 ]
Wollnack, Joerg [2 ]
机构：
[1] Fraunhofer Inst Mfg Technol & Adv Mat IFAM, Stade, Germany
[2] Hamburg Univ Technol, Inst Prod Management & Technol IPMT, Hamburg, Germany
来源：
3RD INTERNATIONAL CONFERENCE ON SYSTEM-INTEGRATED INTELLIGENCE: NEW CHALLENGES FOR PRODUCT AND PRODUCTION ENGINEERING | 2016年 / 26卷
关键词：
Automation; Photogrammetry; Robot accuracy; Hand-eye-calibration; 6D-pose-measurement; Static robot control;
D O I：
10.1016/j.protcy.2016.08.050
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
In this publication an approach for increasing the absolute positioning accuracy of an industrial milling robot with help of a stereo camera system is presented. To measure the position and orientation of the robot tool center point, a specific adapter with retro reflective markers is mounted on the spindle. The calculation of the transformation of this target holder to the robot tool is part of this paper along with the calibration from the robot to the camera system. These datasets serve as the basis of a static pose control, where the robot absolute accuracy errors will be greatly reduced. (C) 2016 The Authors. Published by Elsevier Ltd.
引用
收藏
页码：389 / 398
页数：10
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