A novel vision-based calibration framework for industrial robotic manipulators

2022-02-01
Balanji, Hamid Majidi
Turgut, Ali Emre
Tunc, Lutfi Taner
With the increasing involvement of industrial robots in manufacturing processes, the demand for high quality robots has increased considerably. A high-quality robot is a robot having good repeatability and accuracy. Industrial robots are known to have very good repeatability, however it is not the same with accuracy. Due to harsh working conditions, accuracy of robots deteriorate over time. Calibration is a practical approach to sustain accuracy. In calibration, position and orientation of the tool center point (TCP) of a robot arm should be corrected using a tracking device with higher accuracy. Different devices such as laser-trackers, optical CMMs, and stereo cameras have been used in the literature. In this paper, a novel calibration framework is proposed based on a single camera and computer vision techniques using ArUco markers. The product of exponentials method is used for kinematic modeling of the robot to avoid the singularity. The performance of the framework is tested using computer-based simulations and using a six degree of freedom (6-DOF) UR5 robotic manipulator. Position and orientation errors are used as metrics in the experiments. The position and orientation errors in real world experiments reached to 2.5 mm and 0.2 degrees, respectively. The result shows that the method is usable in real world scenarios.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING

Suggestions

A Cloud Manufacturing Application for Additive Manufacturing Methods
Haseltalab, Vahid; Yaman, Ulaş (2019-01-01)
Over the past years, the manufacturing industry has witnessed a great enhancement in the field of Additive Manufacturing that allows forming an inchoate market to produce custom-made products with low unit costs. At the same time, everyone may be a designer as well. However, the required equipment is only accessible for all the people. The Cloud Manufacturing aims to resolve this challenge by connecting the customers to the manufacturers. Therefore, this paper introduces a practical fabrication method for 3...
Exploring design requirements for educational robots used in K-12 education from educator’s perspective
Gürkanlı, Cengiz Hakan; Töre Yargın, Gülşen; Department of Industrial Design (2018)
Robotics field has broad application in human society and design space of robots even broader. In the last decades, robots were started to be used for various purposes after their first examples in industrial settings. Use of robots in various human work domains provide multiple benefits over other technological devices. Education is one of the challenging primary fields in which robots offer advantages over other technologies. Unlike other fields of robotics which requires advanced programming architecture...
Precise external positioning of machine tools using angular measurements from digital cameras
OKAY, İLKİN EGE; Koku, Ahmet Buğra; Durmaz, Murat; Department of Mechanical Engineering (2022-6-09)
Nowadays, robot arms are highly available for industrial applications such as welding and automation. The major problem is the inaccuracy at tip position of the robot arm due to several structural effects. This thesis aims to increase the positioning accuracy of robot arm tip position by developing an external positioning method via angular measurement from digital cameras. Two gimbal systems are configured as the steering system of cameras. Each gimbal provides the angular position of the target in real-ti...
A Workflow and Cloud Based Service-Oriented Architecture for Distributed Manufacturing in Industry 4.0 Context
Kayabay, Kerem; Gökalp, Mert Onuralp; Eren, Pekin Erhan; Koçyiğit, Altan (2018-11-22)
In Industry 4.0, manufacturing organizations have to become more flexible and agile to stay competitive in the marketplace. Industry and academia focus on sharing globally distributed manufacturing resources and capabilities. This shift to collaborative environment calls for a service dominant logic in which reusable services model entire production processes. Accordingly, service-oriented architectures have been under spotlight by researchers to integrate distributed capabilities and resources of manufactu...
A programming technique for multifunctional use of industrial robots
Balkan, T (1996-08-16)
In this study, a software is developed in order to use an industrial robot, specifically an are welding robot, as a palletizing robot by using programming codes of a FANUC ARC Mate Sr. on a FANUC R-G2 controller environment. The software performs all standard palletizing options of a material handling robot in the same category without requirement of any optional built-in software. In addition, multiplication and division can be performed without any optional software for these functions, by using standard ...
Citation Formats
H. M. Balanji, A. E. Turgut, and L. T. Tunc, “A novel vision-based calibration framework for industrial robotic manipulators,” ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, vol. 73, pp. 0–0, 2022, Accessed: 00, 2021. [Online]. Available: https://hdl.handle.net/11511/93751.