Kinematic Identification of Industrial Robot Using End-Effector Mounted Monocular Camera Bypassing Measurement of 3-D Pose

Boby, Riby Abraham

doi:10.1109/tmech.2021.3064916

Cited by 26 publications

(5 citation statements)

References 39 publications

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“…Separately, the accuracy of different measurement tools is an essential factor impacting the effectiveness of kinematic calibration. Therefore, high-precision and high-resolution measurement tools such as laser trackers [22, 23] and monocular cameras to the systematic error caused by these approaches to data measurement, which can weaken the overall [24, 25], are typically selected for data measurement. In fact, few scholars have paid much attention to the systematic error caused by these approaches to data measurement, which can weaken the overall precision control of robot motion.…”

Section: Introductionmentioning

confidence: 99%

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Wang,

Xie,

Jiang

et al. 2024

Robotica

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Most of the currently available three-degree-of-freedom manipulators are light load and cannot achieve full continuous rotation; given this, we designed a heavy-load manipulator that achieves unrestricted and continuous rotation. Due to manufacturing and assembly errors, parameter deviations between the real manipulator and its underlying theoretical model were unavoidable. Because of the lack of high-precision, high-frequency, and real-time closed-loop detection methods, we proposed a type of kinematics calibration of parameterized ant colony optimization and feedforward control methods. This was done to achieve high-precision motion control. First, an error model combining structural parameters and joint output angles was established, and the global sensitivity of each error source was analyzed to distinguish both primary and secondary sources. Based on the measured data of a laser tracker, the ant colony optimization was then used to identify six error sources. This resulted in both link length and joint driving errors of the designed manipulator. As it is a type of systematic error, the rounding error of the theoretical trajectory was carefully analyzed, and feedforward control methods with different coefficients were designed to further improve positioning accuracy based on the kinematic calibration. Experimental results showed that the proposed kinematic calibration and feedforward control methods achieved relatively precise motion control for the designed manipulator.

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Section: Introductionmentioning

confidence: 99%

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Wang,

Xie,

Jiang

et al. 2024

Robotica

View full text Add to dashboard Cite

show abstract

“…Through a self-referencing alternative, which is not dependent on their mounting structure, it is possible to determine the six degrees of freedom of the sensor. This way, it is becoming the alternative especially in automation tasks with robotic arms [ 2 , 3 ]. The Canadian firm Creaform demonstrates the capabilities of its C-Track device in vibration environments, compared to a poly-articulated arm [ 1 ].…”

Section: Introductionmentioning

confidence: 99%

Calibration Procedure of a Multi-Camera System: Process Uncertainty Budget

Leizea

Herrera

Puerto

2023

Sensors

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The Automated six Degrees of Freedom (DoF) definition of industrial components has become an added value in production processes as long as the required accuracy is guaranteed. This is where multi-camera systems are finding their niche in the market. These systems provide, among other things, the ease of automating tracking processes without human intervention and knowledge about vision and/or metrology. In addition, the cost of integrating a new sensor into the complete system is negligible compared to other multi-tracker systems. The increase in information from different points of view in multi-camera systems raises the accuracy, based on the premise that the more points of view, the lower the level of uncertainty. This work is devoted to the calibration procedures of multi-camera systems, which is decisive to achieve high performance, with a particular focus on the uncertainty budget. Moreover, an evaluation methodology has been carried out, which is key to determining the level of accuracy of the measurement system.

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“…The position and orientation data of the object generated by the camera need to be transformed by the controller according to kinematic system. Boby (2021), this transformation makes to be able picking the object with the right position for industrial robots or collaborative robots, Halme et al (2018). Thus, the vision coordinate system, tool coordinate system and robot base coordinate system are transformed in a single coordinate system for picking the object (Hazrat et al , 2018).…”

Section: Introductionmentioning

confidence: 99%

A robust and simple collision avoidance approach for pick and place robot applications

Deniz

2023

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Purpose The aim of this study is to create a robust and simple collision avoidance approach based on quaternion algebra for vision-based pick and place applications in manufacturing industries, specifically for use with industrial robots and collaborative robots (cobots). Design/methodology/approach In this study, an approach based on quaternion algebra is developed to prevent any collision or breakdown during the movements of industrial robots or cobots in vision system included pick and place applications. The algorithm, integrated into the control system, checks for collisions before the robot moves its end effector to the target position during the process flow. In addition, a hand–eye calibration method is presented to easily calibrate the camera and define the geometric relationships between the camera and the robot coordinate systems. Findings This approach, specifically designed for vision-based robot/cobot applications, can be used by developers and robot integrator companies to significantly reduce application costs and the project timeline of the pick and place robotics system installation. Furthermore, the approach ensures a safe, robust and highly efficient application for robotics vision applications across all industries, making it an ideal solution for various industries. Originality/value The algorithm for this approach, which can be operated in a robot controller or a programmable logic controller, has been tested as real-time in vision-based robotics applications. It can be applied to both existing and new vision-based pick and place projects with industrial robots or collaborative robots with minimal effort, making it a cost-effective and efficient solution for various industries.

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Kinematic Identification of Industrial Robot Using End-Effector Mounted Monocular Camera Bypassing Measurement of 3-D Pose

Cited by 26 publications

References 39 publications

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Calibration Procedure of a Multi-Camera System: Process Uncertainty Budget

A robust and simple collision avoidance approach for pick and place robot applications

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