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Automatic Robot Calibration via a Global-Local Camera System
University of Skövde, The Virtual Systems Research Centre. University of Skövde, School of Technology and Society.ORCID iD: 0000-0002-8906-630X
University of Skövde, The Virtual Systems Research Centre. University of Skövde, School of Technology and Society.
2012 (English)In: Proceedings of FAIM 2012, Tampere University of Technology, 2012Conference paper, (Refereed)
Abstract [en]

In a human-robot collaborative manufacturing application where working object can be placed in an arbitrary position, there is a need to calibrate the actual position of the work object. This paper presents an approach for automatic calibration in flexible robotic systems. It consists of two subsystems: a global positioning system based on fixed cameras mounted around robotic workspace, and a local positioning system based on the camera mounted on the robot arm. The aim of the global positioning is to detect work object in working area and roughly estimate the position, whereas the local positioning is to define the object frame according to the 3D position and orientation of the work object with higher accuracy. For object detection and localization, coded visual markers have been utilized. For each object, several markers have been used to increase the robustness and accuracy of localization and calibration procedure. This approach can be used in robotic welding or assembly applications.

Place, publisher, year, edition, pages
Tampere University of Technology, 2012.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Technology
Identifiers
URN: urn:nbn:se:his:diva-6424ISBN: 978-952-15-2783-8 OAI: oai:DiVA.org:his-6424DiVA: diva2:559849
Conference
FAIM 2012, 22nd International Conference on Flexible Automation and Intelligent Manufacturing, June 10th-13th, 2012, Helsinki, Finland
Available from: 2012-10-10 Created: 2012-10-02 Last updated: 2014-05-21Bibliographically approved

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Citation style
  • apa
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