TY - GEN
T1 - Circular test, positioning accuracy and repeatability of industrial robots using extrinsic parameters of a camera
AU - Castillo-Castaneda, E.
AU - Ikeda, T.
AU - Matsuura, D.
AU - Takeda, Y.
PY - 2013
Y1 - 2013
N2 - This document presents the experimental validation of image processing techniques used to estimate displacements for end-effector robot or worktable for machine-tools. The aim is performance evaluation of robots and machine-tools. Since the most important performance parameters to be evaluated are accuracy and repeatability, we need to assure that accuracy of image processing techniques is at least twice smaller than mean accuracy expected for machines. Two main characteristics should be carefully revised: camera calibration accuracy and pose estimation accuracy. To validate this technique we used a linear stage and a rotary stage, for linear and angular displacement respectively. Finally, the performance evaluation of a spherical parallel mechanism designed for milling applications is presented. The circular test for different angles from the vertical was performed. A grid checkerboard pattern was fixed to end-effector. Circular motions are executed while a high resolution, previously calibrated, camera acquires images of the pattern. The end-effector pose is estimated from the extrinsic parameters of the acquired images.
AB - This document presents the experimental validation of image processing techniques used to estimate displacements for end-effector robot or worktable for machine-tools. The aim is performance evaluation of robots and machine-tools. Since the most important performance parameters to be evaluated are accuracy and repeatability, we need to assure that accuracy of image processing techniques is at least twice smaller than mean accuracy expected for machines. Two main characteristics should be carefully revised: camera calibration accuracy and pose estimation accuracy. To validate this technique we used a linear stage and a rotary stage, for linear and angular displacement respectively. Finally, the performance evaluation of a spherical parallel mechanism designed for milling applications is presented. The circular test for different angles from the vertical was performed. A grid checkerboard pattern was fixed to end-effector. Circular motions are executed while a high resolution, previously calibrated, camera acquires images of the pattern. The end-effector pose is estimated from the extrinsic parameters of the acquired images.
UR - http://www.scopus.com/inward/record.url?scp=84887313847&partnerID=8YFLogxK
U2 - 10.1109/RoMoCo.2013.6614579
DO - 10.1109/RoMoCo.2013.6614579
M3 - Contribución a la conferencia
AN - SCOPUS:84887313847
SN - 9781467355117
T3 - 9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings
SP - 25
EP - 29
BT - 9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings
PB - IEEE Computer Society
T2 - 9th International Workshop on Robot Motion and Control, RoMoCo 2013
Y2 - 3 July 2013 through 5 July 2013
ER -