Vision-Based Detection and Coordinate Metrology of a Spatially Encoded Multi-Sphere Artefact

Isa, Mohammed; Leach, Richard; Branson, David T.; Piano, Samanta

doi:10.2139/ssrn.4516623

Cited by 1 publication

(7 citation statements)

References 64 publications

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“…To accurately measure the pose of a robot, a multi-view measurement approach is employed, which involves capturing images from multiple viewpoints of sphere targets attached to a robot's end-effector. The proposed HARPM solution builds on the vision-based detection and 3D coordinate metrology techniques introduced in our previous work 12 . The visionbased approach uses an artefact with pre-calibrated dimensions and an improved detection algorithm 12 , enabling accurate localisation and identification of the artefact sphere features on the robot end-effector.…”

Section: Methodsmentioning

confidence: 99%

“…The proposed HARPM solution builds on the vision-based detection and 3D coordinate metrology techniques introduced in our previous work 12 . The visionbased approach uses an artefact with pre-calibrated dimensions and an improved detection algorithm 12 , enabling accurate localisation and identification of the artefact sphere features on the robot end-effector.…”

Section: Methodsmentioning

confidence: 99%

“…For the spherical artefact targets shown in Figure 1b), using their 3D coordinate positions obtained by the vision-based evaluation 12 , we can track six degrees of freedom changes in the robot end-effector. The pre-calibration dataset 15 for the artefact plays a crucial role in this process, providing essential information, such as the sphere-to-sphere distances and diameters.…”

Section: Vision-based Pose Measurementmentioning

confidence: 99%

“…To address challenges in robot accuracy, we introduce a high-accuracy robotic pose measurement (HARPM) system that uses a pre-calibrated spatially encoded artefact for robot coordinate measurement. Using the encoded artefact, the HARPM system derives coordinate measurements from the algorithms and methods introduced in our previous work 12,13 . The method for coordinate measurement relies on improved detection, localisation and error reduction strategies applied to multi-view images of the artefact.…”

Section: Introductionmentioning

confidence: 99%

“…The method for coordinate measurement relies on improved detection, localisation and error reduction strategies applied to multi-view images of the artefact. The comprehensive detection and modelling scheme outlined the work 12 is shown to improve existing methodologies and reduce measurement errors. From accurate photometric positions of target features on the artefact, three dimensional (3D) reconstruction of the features is obtained through triangulation.…”

Section: Introductionmentioning

confidence: 99%

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High-accuracy robotic metrology for precise industrial manipulation tasks

Isa,

Khanesar,

Leach

et al. 2023

Automated Visual Inspection and Machine Vision V

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The majority of industrial production processes can be divided into a series of object manipulation and handling tasks that can be adapted for robots. Through significant advances in compliant grasping, sensing and actuation technologies, robots are now capable of carrying out human-like flexible and dexterous object manipulation tasks. During operation, robots are required to position objects within tolerances specified for every operation in an industrial process. The ability of a robot to meet these tolerances is the critical deciding factor that determines where the robot can be integrated and how proficient the robot can carry out high-precision tasks. Therefore, improving the positioning accuracy of robots can lead to new avenues for their integration into production industries. Given that tolerances in manufacturing processes are in the order of tens of micrometres or less, robots should guarantee high positioning accuracy when manipulating objects. The direct method of ensuring high accuracy is by introducing an additional measurement system(s) that can improve the inherent joint-angle-based robot position determination. In this paper, we present a high-accuracy robotic pose measurement (HARPM) system based on coordinate measurements from a multi-camera vision system. We also discuss the integration of measurements obtained by absolute distance interferometry and how the interferometric measurements can complement the vision system measurements. The performance of the HARPM system is evaluated using a laser interferometer to investigate robotic positions along a trajectory. The performance results show that the HARPM system can improve the positioning accuracy of robots from hundreds to a few tens of micrometres.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Vision-based Pose Measurementmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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