Reducing Localization Error of Vision-Guided Industrial Robots

被引：1

作者：

Franaszek, Marek ^{[1
]}

Cheok, Geraldine S. ^{[1
]}

Marvel, Jeremy A. ^{[1
]}

机构：

[1] NIST, Gaithersburg, MD 20899 USA

来源：

2019 IEEE INTERNATIONAL SYMPOSIUM ON ROBOTIC AND SENSORS ENVIRONMENTS (ROSE 2019) | 2019年

关键词：

robot localization error; hand-eye calibration; rigid-body registration; volumetric error compensation; accuracy; repeatability; SERVO CONTROL; INTERPOLATION; CALIBRATION; COMPENSATION; PERFORMANCE; INSPECTION; SYSTEM;

D O I：

10.1109/rose.2019.8790410

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In many manufacturing applications, such as automated drilling or inspection of large parts, accurate knowledge of both position and orientation of the robot end-effector is critical. In this paper, a method for reducing robot end-effector position and orientation error is presented. Experimental results show that the method can reduce the median position error by 97% (to 0.3 mm) and the median orientation error by 57% (to 0.27 deg). Limitations of the method caused by the hand-eye calibration are discussed.

引用

页码：183 / 189

页数：7

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