Geometry-based 6D-pose visual servoing system enabling accuracy improvements of industrial robots

Buschhaus, Arnd; Griinsteudel, H.; Franke, Jörg

doi:10.1109/icamechs.2016.7813446

Cited by 3 publications

(3 citation statements)

References 5 publications

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“…As a result, the hand-target-eye spatial attitude transformation relation is established. According to existing research [32][33][34], the camera is used to measure unidirectional pose accuracy and repeatability of industrial robots. e basic principle is to use a structured light sensor to indirectly measure the absolute posture of the robot by measuring 4 fixed reference points and to compare the real posture with the command posture to test the accuracy and repeatability of the posture.…”

Section: System Calibrationmentioning

confidence: 99%

A Point Cloud-Based Feature Recognition and Path Planning Method

Chen

Wang

Huang

2022

Shock and Vibration

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Based on the research background of in situ automatic ultrasonic phased array inspection of irregular porous castings, due to the limited in situ inspection stations, complex shape of irregular porous castings, and extreme multireflection structural features, it is necessary to identify the positioning inspection features among multiple features to be inspected and plan the optimal inspection path. This research is interested in the porous location recognition and its detection path planning of irregular porous castings. For this, a point cloud-based multifeature contour recognition and location algorithm were proposed to simultaneously extract and locate the hole feature and cylindrical feature from an irregular porous castings. Furthermore, a detection path planning method was put forward to search the shortest robot’s detection path based on the above acquired features by visual recognition and positioning technology. First, through the calibration of the industrial robot tool coordinate system and the internal and external parameters of the camera, the “EyeinHand” hand-eye conversion relationship was established. Second, the robot vision system collects the point cloud information of the area to be inspected and performs point cloud splicing, the accuracy of the original data, the removal of noise such as invalid points, outliers and internal noise points, on this basis, the boundary curve of the hole to be inspected was extracted, the cylindrical equation was fitted, its geometric center was calculated, and the central coordinates and axis direction of the contour of the hole to be inspected were obtained. Finally, all the detection paths were traversed through the multibranch tree to obtain the optimal detection path of the detection points of multiple targets. The experimental results show that the positioning accuracy of the feature of the hole to be inspected by the vision system is 0.107 mm, the aperture extraction accuracy is 0.002 mm, the cylinder fitting accuracy is 0.04 mm, and the calculation accuracy of the angle between the two axes is within 0.4. When the number of features to be inspected is different, the average moving distance can be saved by 10.7% by using the end effector after path optimization. The feasibility of in situ automatic ultrasonic phased array detection for irregular porous castings using by visual positioning is verified.

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Section: System Calibrationmentioning

confidence: 99%

A Point Cloud-Based Feature Recognition and Path Planning Method

Chen

Wang

Huang

2022

Shock and Vibration

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“…They can then be calibrated to achieve the necessary accuracy for a specific workstation setup. The development of more accurate industrial robots (Buschhaus, Krusemark et al, 2016b), more ubiquitous sensing technology (Buschhaus, Grünsteudel et al, 2016a) and new backlash free actuators (F. Wang et al, 2016), however, makes mobile robot platforms increasingly more accurate and capable from an automation technology perspective. This work assumes that current technical challenges will be overcome if clear operational advantages can be demonstrated.…”

Section: Automation In Large Aircraft Structure Assemblymentioning

confidence: 99%

Dynamic vs dedicated automation systems - a study in large structure assembly

Ljasenko

Lohse

Justham

2020

Production & Manufacturing Research

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The manufacturing industry needs to increase productivity and flexibility to stay competitive. This requires more adaptable and versatile production capabilities. It is expected that dynamic systems, consisting of mobile robots, will be particularly prominent in manufacturing environments where it is difficult to move components and products in a flexible manner. This paper compares the relative advantages of a dynamic, mobile robot-based system with traditional dedicated automation systems. The study uses simulations to evaluate several representative scenarios with different product supply bottlenecks, interference among mobile robots and mixes of products inspired by the aerospace industry. The results show that mobility enables higher resource utilisation and increased flexibility. This highlights the potential operational advantages mobile robot-based systems would offer and gives clear justification to continue the development of dynamic, self-organising production systems based on mobile robots. ARTICLE HISTORY

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“…The kinematic calibration can be carried out according to two basic principles (Day, 1996). On the one hand it can be done by an inline calibration using closed-loop correction (Buschhaus et al, 2016). Here, the error is detected and compensated during the processing.…”

Section: Kinematic Calibrationmentioning

confidence: 99%

Accuracy Analysis and Improvement for Cooperative Industrial Robots

Wagner

Buschhaus

Reitelshöfer

et al. 2017

Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics

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The cooperative working of multiple robots on a common task often requires a high geometric accuracy. If such a system is modeled, many sources of error are present, which can quickly lead to inadequate process results. In order to avoid this, it is important to carry out a calibration in which deviations are determined. Subsequently, the model can be adapted to the actual conditions. In the scope of this work a kinematic calibration method for multi-robot systems is developed and realized with a robot setup consisting of two industrial robot arms. The accuracy of the robot system is significantly improved by the developed approach, which has been proven by experimental investigations.

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Geometry-based 6D-pose visual servoing system enabling accuracy improvements of industrial robots

Cited by 3 publications

References 5 publications

A Point Cloud-Based Feature Recognition and Path Planning Method

A Point Cloud-Based Feature Recognition and Path Planning Method

Dynamic vs dedicated automation systems - a study in large structure assembly

Accuracy Analysis and Improvement for Cooperative Industrial Robots

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