| Journal: | Journal of the Brazilian Society of Mechanical Sciences |
| Database: | PERIÓDICA |
| System number: | 000312108 |
| ISSN: | 0100-7386 |
| Authors: | Motta, J.M.S.T1 McMaster, R.S2 |
| Institutions: | 1Universidade de Brasilia, Departamento de Engenharia Mecanica, Brasilia, Distrito Federal. Brasil 2Cranfield University , School of Industrial and Manufacturing Science, Cranfield, Bedfordshire. Reino Unido |
| Year: | 2002 |
| Season: | Jul |
| Volumen: | 24 |
| Number: | 3 |
| Pages: | 220-225 |
| Country: | Brasil |
| Language: | Inglés |
| Document type: | Artículo |
| Approach: | Experimental, aplicado |
| English abstract | One of the problems that slows the development of off-line programming is the low static and dynamic positioning accuracy of robots. Robot calibration improves the positioning accuracy and can also be used as a diagnostic tool in robot production and maintenance. A large number of robot measurement systems are now available commercially. Yet, there is a dearth of systems that are portable, accurate and low cost. In this work a measurement system that can fill this gap in local calibration is presented. The measurement system consists of a single CCD camera mounted on the robot tool flange with a wide angle lens, and uses space resection models to measure the end-effector pose relative to a world coordinate system, considering radial distortions. Scale factors and image center are obtained with innovative techniques, making use of a multiview approach. The target plate consists of a grid of white dots impressed on a black photographic paper, and mounted on the sides of a 90-degree angle plate. Results show that the achieved average accuracy varies from 0.2mm to 0.4mm, at distances from the target from 600mm to 1000mm respectively, with different camera orientations |
| Disciplines: | Ingeniería |
| Keyword: | Ingeniería biónica y cibernética, Robótica, Robots, Calibración, Visión, Cámaras, Exactitud, Sistemas de medición |
| Keyword: | Engineering, Bionics and cybernetics, Robotics, Robots, Calibration, Vision, Cameras, Accuracy, Measurement systems |
| Full text: | Texto completo (Ver HTML) |
