Increasing the accuracy of untaught robot positions by means of a multi-camera system

Author

Boochs, Frank ; Schütze, Rainer ; Simon, Camille ; Marzani, Franck ; Wirth, Holger ; Meier, Jürgen

Author_Institution

Inst. for Spatial Inf. & Surveying Technol., Univ. of Appl. Sci. Mainz, Mainz, Germany

fYear

2010

fDate

15-17 Sept. 2010

Firstpage

1

Lastpage

9

Abstract

We aim to improve the absolute in line positional accuracy of a robot-guided effector to better than 1 mm. We do so using photogrammetric techniques and by relying heavily on simulations to fine tune each parameter and avoid weak configurations. We also use simulations to design an LED calibration object adapted to this application. A test procedure enables us to validate both the simulated results as well as the calibration procedure. The test results exceed expectations by improving the absolute positioning of a robot effector by a factor of 20.

Keywords

calibration; cameras; end effectors; industrial manipulators; optical sensors; optical tracking; photogrammetry; position control; sensor fusion; LED calibration object; line positional accuracy; multicamera system; photogrammetric technique; robot-guided effector; untaught robot position; Accuracy; Cameras; Robot kinematics; Robot vision systems; Service robots; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Indoor Positioning and Indoor Navigation (IPIN), 2010 International Conference on

Conference_Location

Zurich

Print_ISBN

978-1-4244-5862-2

Electronic_ISBN

978-1-4244-5865-3

Type

conf

DOI

10.1109/IPIN.2010.5646261

Filename

5646261