Calibration of an Industrial Robot Using a Stereo Vision System

Švaco, Marko; Šekoranja, Bojan; Šuligoj, Filip; Jerbić, Bojan

doi:10.1016/j.proeng.2014.03.012

Cited by 71 publications

(30 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It is carried out by targeting a point in the robot workspace in multiple different orientations. Using the joint configurations from the same spatial point, an optimization of the TCP coordinates is performed by minimizing the residuals of the end effector poses, as shown in [49]. Other kinematic parameters of the robot are not altered.…”

Section: Experimental Setup -Phantom Trialsmentioning

confidence: 99%

A Novel Robotic Neuronavigation System: RONNA G3

Švaco

Šekoranja

Šuligoj

et al. 2017

SV-JME

View full text Add to dashboard Cite

Section: Experimental Setup -Phantom Trialsmentioning

confidence: 99%

A Novel Robotic Neuronavigation System: RONNA G3

Švaco

Šekoranja

Šuligoj

et al. 2017

SV-JME

View full text Add to dashboard Cite

“…a) Vision system measurement of the target point In Fig. 3 the main measurement concept is depicted through a picture taken by our stereo vision system [6]. The picture shows a target point in which the depth error in the Z direction is depicted by the yellow arrow.…”

Section: T-phantommentioning

confidence: 99%

“…In each phantom design and associated accuracy measurement method we identify measurable variables and give a critical overview. Finally we discuss the design of the T-Phantom and apply a previously developed stereo vision measurement method [6] for objective accuracy measurement.…”

Section: Introductionmentioning

confidence: 99%

T-Phantom: a New Phantom Design for Neurosurgical Robotics

Švaco¹,

Jerbić²,

Stiperski³

et al. 2016

Proceedings of the 27th International DAAAM Symposium 2016

View full text Add to dashboard Cite

In this paper we propose a novel phantom design for measuring application accuracy of neurosurgical robotic systems and stereotactic frames. We develop a novel phantom (T-Phantom) which enables simultaneous localization of translational displacements in entry and target points. The phantom consists of multiple trajectories positioned around a localizer feature simulating approach trajectories in neurosurgical procedures on the intracranial space. Each trajectory consists of two parallel and coaxial hollow cylinders printed in selective laser sintering technology. We apply a stereo vision measuring method for precise measurements of translational displacements in target and entry positions. The paper further provides a systematic comparison of phantom designs originating from stereotactic frames and neurosurgical robotic systems. To the author's knowledge, the developed T-Phantom is the first stereotactic phantom which enables simultaneous measurements both in deviation from target and entry positions and angular deviation from the planned trajectory.

show abstract

“…The two most important parts of robot calibration are building an accurate model and a valid method to measure the robot's position. Although some researchers, such as Marko Švaco [1],have calibrated robots using the Denavit-Hartenberg (DH) model, it is not good enough for some robots that have parallel links. So Hayati [2]proposed a model called the MDH model, which many researchers now use to calibrate robots.…”

Section: Introductionmentioning

confidence: 99%

Two Error Models for Calibrating SCARA Robots based on the MDH Model

Ding³

2017

MATEC Web Conf.

View full text Add to dashboard Cite

Abstract. This paper describes the process of using two error models for calibrating Selective Compliance Assembly Robot Arm (SCARA) robots based on the modified Denavit-Hartenberg(MDH) model, with the aim of improving the robot's accuracy. One of the error models is the position error model, which uses robot position errors with respect to an accurate robot base frame built before the measurement commenced. The other model is the distance error model, which uses only the robot moving distance to calculate errors. Because calibration requires the end-effector to be accurately measured, a laser tracker was used to measure the robot position and distance errors. After calibrating the robot and, the end-effector locations were measured again compensating the error models' parameters obtained from the calibration. The finding is that the robot's accuracy improved greatly after compensating the calibrated parameters.

show abstract

Calibration of an Industrial Robot Using a Stereo Vision System

Cited by 71 publications

References 9 publications

A Novel Robotic Neuronavigation System: RONNA G3

A Novel Robotic Neuronavigation System: RONNA G3

T-Phantom: a New Phantom Design for Neurosurgical Robotics

Two Error Models for Calibrating SCARA Robots based on the MDH Model

Contact Info

Product

Resources

About