A Marker Based Optical Measurement Procedure to Analyse Robot Arm Movements and Its Application to Improve Accuracy of Industrial Robots

被引：2

作者：

Rettig, Oliver ^{[1
]}

Mueller, Silvan ^{[1
]}

Strand, Marcus ^{[1
]}

机构：

[1] Baden Wuerttemberg Cooperat State Univ, Karlsruhe, Germany

来源：

INTELLIGENT AUTONOMOUS SYSTEMS 16, IAS-16 | 2022年 / 412卷

关键词：

Marker based optical measurement; Robot repeatability and accuracy; KINEMATIC CALIBRATION; ROTATION; SYSTEM;

D O I：

10.1007/978-3-030-95892-3_42

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Static robot calibration determines the parameters of a mathematical model that approximates as closely as possible the relationship between the end-effector pose of a robot and its corresponding actuated joint variables. The manufacturer of a robot delivers such a set of parameters but individual measurements for a robot can be used to determine optimized parameters. The purpose of this paper is to show, that a markerbased optical measurement system can be used as an cost-efficient alternative to laser scanners to collect kinematic data for calibration purposes. Furthermore several methods to estimate the orientation and position of the robots joint axes are compared and used to determine Denavit-Hartenberg parameters for a robot of type UR5e from Universal Robots. The implemented procedure has approved even with a camera resolution of only 2.2 Megapixel. An accuracy better than 0.1 mm was reached and further improvements are possible.

引用

页码：551 / 562

页数：12