Autonomous robot calibration using vision technology

Improving accuracy and flexibility of industrial robots using computer vision

“…The first one is to fix cameras in the robot environment so that the cameras can see a calibration fixture mounted on the robot end-effector while the robot changes its configuration. The second typical setup is to mount a camera or a pair of cameras on the end-effector of the robot manipulator (Albada, et al 1994;Meng & Zhuang, 2007;Motta, et al 2001;Motta & McMaster, 2002).…”

“…The second disadvantage of this method is that normally computes the position of the camera instead the end-effector. Thus a remaining task is to identify the transformation from the camera system to the tool system, which is a non-trivial task (Meng & Zhuang, 2007;Tsai & Lenz, 1989).…”

A method for kinematic calibration of a parallel robot by using one camera in hand and a spherical object

“…External calibration can be done by measuring completely or partially the pose parameters of the platform. Measurements of the pose of a platform can be done with a laser and a coordinate measuring machine (CMM) [5], commercial visual systems (optical system and infrared light) [6][7][8], visual systems and microscopes [9], laser sensor [10], by adding passive legs [11] or by constraining elements [12], with a interferometer [13], with a LVDT and inclinometers in [12,14], theodolite [15], with gauges [16], with double ball bar (DBB) [17,18], by inspecting a machined part that is dedicated to the calibration process [19], accelerometers [20], or with visual systems and patterns widely studied (chess-board and similar patterns) [21][22][23]. Above examples are different strategies that obtain kinematic information of the robot, but in general, calibration methods impose virtual or real constraints on the poses of the end effector (or mobile elements).…”

“…Visual methods are becoming more popular due to its simplicity and because it can be an inexpensive method in comparison to others, for parallel robots it was first proposed by Amirat [25]. Visual methods that propose a monocular system [21][22][23] propose to utilize a pattern (marks on a flat surface), these kin employed in camera calibration, where is p intrinsic and extrinsic parameters [26]. B extrinsic parameters of the camera it attaching the camera or the pattern to the ren robot) to obtain the pose of the end effector consequently those poses can be considere poses.…”

Evolutionary-based 3D reconstruction using an uncalibrated stereovision system: application of building a panoramic object view

“…This kind of systems often uses a mirror [11,27] which can distort the scene, and interfere with the detection of some basic geometrical forms. A panoramic 3D reconstruction can also be obtained with a single camera by moving the camera around the scene [26,28], which allows different points of view to be taken. The respective locations or the movement of the camera have to be exactly known which makes the approach comparable to the second class of methods in which the panoramic stereovision systems are composed of two or more cameras.…”