Precise external positioning of machine tools using angular measurements from digital cameras

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Thesis_İlkinEgeOkay.pdf

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2022-6-09

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OKAY, İLKİN EGE

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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-time. A calibration procedure is developed to establish a common reference frame. A python-based simulation is implemented for error budgeting. Real-world measurements are analyzed and discussed. According to the results, position accuracies better than 0.15% can be achieved. The results further can be improved by better vision components and online estimation of calibration parameters.

Subject Keywords

Gimbal, Robotic machining, Real time control systems, Image processing, Multiangulation

URI

https://hdl.handle.net/11511/97739

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

İ. E. OKAY, “Precise external positioning of machine tools using angular measurements from digital cameras,” M.S. - Master of Science, Middle East Technical University, 2022.