Eye‐hand‐workspace calibration using laser pointer projection on plane surface

In this research work we investigated the accuracy of a standard industrial robot. We wanted to find out, how accurate an X-Ray Computed Tomography (CT) scan can be performed when using such a robot as a manipulator. The accuracy was measured using a laser-interferometer. The measured deviations were used to run an X-Ray simulation via Fraunhofer EZRT’s Scorpius X-Lab. Metrological analysis was performed as a measure for the quality of the simulated CT-scan. The metrological deviations reflect the feasible accuracy of a CT-scan in a real CT-setup.

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“…Another approach is to precalibrate the robot e.g. using X-Rays [9], laser-trackers [10] or a combination of laserpointer and camera [11].…”

Section: Robotmentioning

confidence: 99%

Investigation of positioning accuracy of industrial robots for robotic-based X-ray computed tomography

Landstorfer¹,

Hiller²,

Herbst³

2019

eJNDT

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“…Such an approach to prevention is used mainly in machining applications. [10][11][12] Characteristics of the controlled UR5 robot…”

Section: State Of Artmentioning

confidence: 99%

Measurement of unidirectional pose accuracy and repeatability of the collaborative robot UR5

Pollák

Kočiško

Paulišin

et al. 2014

Advances in Mechanical Engineering

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The article describes the measurement of unidirectional pose accuracy and repeatability of a collaborative robot. The objective of the measurements is to investigate and evaluate unidirectional accuracy of the six-axis collaborative robot UR5 of the company Universal Robots. The measurement methodology was based on outlining an imaginary ISO cube placed in the robot’s workspace, in which the robot’s tool centre point (TCP) attained five measurement points in thirty measurement cycles. A video camera and six linear incremental sensors with six evaluation units were used for the measurement. The measured values are presented and applied according to the ISO 9283 standard. On the basis of the measurement, we verified technical specifications of unidirectional pose accuracy and repeatability of the robotic arm UR5 specified by its producer.

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“…Cameras such as macro lens camera, industrial camera, digital single lens reflex (DSLR) camera have been used to acquire images in different circumstances and object size (Harsha et al, 2018;Hu and Chang, 2012). Camera similarity and geodesic distance were used to reconstruct the 3D model to overcome the overlap constraint between the cameras (Kim and Lee, 2019).…”

Section: Introductionmentioning

confidence: 99%

Robot-assisted 3D digital reconstruction of heritage artifacts: area similarity approach

Gothandaraman

Muthuswamy

2020

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Purpose This paper aims to propose a system to acquire images automatically for digital reconstruction of heritage artifacts using a six-degree of freedom industrial manipulator. Design/methodology/approach A virtual environment is created using Robot Studio® software to integrate the trajectory and differential motion of the robot manipulator and the motion of camera while acquiring images. A new area similarity matrix method is proposed to reduce the number of images required for digital reconstruction using Autodesk Recap® software. Real-time experiments have been performed using objects such as minion, ultimaker robot and cube. Evaluation of the digital reconstruction is conducted using the contour area matching method. Findings The number of images required for reconstruction based on area similarity matrix method is reduced to 63 per cent when compared with the random selection method. Quality parameters such as surface area, volume, number of defect holes, vertices and faces are enhanced for the proposed method. Research limitations/implications Digital reconstruction of large-sized heritage artifacts cannot be performed in this setup. But this can be overcome by fixing the manipulator on a mobile platform or overhead crane. This paper does not discuss the reconstruction of partially damaged heritage artifacts, which could be accomplished based on deep learning techniques. Practical implications Using this approach, off-the-shelf heritage artifacts and large-scale objects can be reconstructed digitally with a minimum number of images and without compromising the quality of original models. Originality/value To the best of the authors’ knowledge, area similarity-based approach in 3D digital reconstruction by coupling the kinematics of an industrial manipulator and camera is proposed for the first time. A fully automated digital reconstruction technology to preserve valuable heritage artifacts has been developed. It also highlights the space constraints of the industrial manipulator in digital reconstruction.

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Eye‐hand‐workspace calibration using laser pointer projection on plane surface

Cited by 8 publications

References 27 publications

Investigation of positioning accuracy of industrial robots for robotic-based X-ray computed tomography

Investigation of positioning accuracy of industrial robots for robotic-based X-ray computed tomography

Measurement of unidirectional pose accuracy and repeatability of the collaborative robot UR5

Robot-assisted 3D digital reconstruction of heritage artifacts: area similarity approach

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