Autonomous Kinematic Calibration of the Robot Manipulator with a Linear Laser-Vision Sensor
| العنوان: | Autonomous Kinematic Calibration of the Robot Manipulator with a Linear Laser-Vision Sensor |
|---|---|
| المؤلفون: | Young-Schick Ro, Sung-Weon Shin, Jeong-Woo Jeong, Young Soo Suh, Hee-Jun Kang |
| المصدر: | Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial Intelligence ISBN: 9783540742012 ICIC (2) |
| بيانات النشر: | Springer Berlin Heidelberg, 2007. |
| سنة النشر: | 2007 |
| مصطلحات موضوعية: | Robot calibration, business.industry, Calibration (statistics), Computer science, String (computer science), ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Robot manipulator, Perceptron, Intersection (Euclidean geometry), Computer Science::Robotics, Robot workspace, Robot, Point (geometry), Computer vision, Artificial intelligence, business |
| الوصف: | This paper presents a new autonomous kinematic calibration technique by using a laser-vision sensor called "Perceptron TriCam Contour". Because the sensor measures by capturing the image of a projected laser line on the surface of the object, we set up a long, straight line of a very fine string inside the robot workspace, and then allow the sensor mounted on a robot to measure the point intersection of the line of string and the projected laser line. The data collected by changing robot configuration and measuring the intersection points are constrained to on a single straght line such that the closed-loop calibration method can be applied. The obtained calibration method is simple and accurate and also suitable for on-site calibration in an industrial environment. The method is implemented using Hyundai VORG-35 for its effectiveness. |
| ردمك: | 978-3-540-74201-2 |
| DOI: | 10.1007/978-3-540-74205-0_114 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::b0baa6fcc6c66ac807da86ee2c55f61f https://doi.org/10.1007/978-3-540-74205-0_114 |
| رقم الانضمام: | edsair.doi...........b0baa6fcc6c66ac807da86ee2c55f61f |
| قاعدة البيانات: | OpenAIRE |
| ردمك: | 9783540742012 |
|---|---|
| DOI: | 10.1007/978-3-540-74205-0_114 |