Monocular Vision for Mobile Robot Localization and Autonomous Navigation
International Journal of Computer Vision
Cost-efficient drilling using industrial robots with high-bandwidth force feedback
Robotics and Computer-Integrated Manufacturing
Metrology-assisted robotic processing of aerospace applications
International Journal of Computer Integrated Manufacturing
Visual Sensing and its Applications: Integration of Laser Sensors to Industrial Robots
Visual Sensing and its Applications: Integration of Laser Sensors to Industrial Robots
Developing robust vision modules for microsystems applications
Machine Vision and Applications
Absolute calibration of an ABB IRB 1600 robot using a laser tracker
Robotics and Computer-Integrated Manufacturing
| Hi-index | 0.00 |
Robotic drilling for aircraft structures demands higher accuracy on industrial robots than their traditional applications. Positioning error measurement and compensation based on 2D vision system is a cost-effective way to improve the positioning accuracy in robotic drilling. In this paper, we first discuss the principle of error measurement and compensation with a 2D vision system for robotic drilling and the determination of tool center point of the vision system so that the Abbe errors are eliminated in the measurement process. Measurement errors due to nonideal measurement conditions, i.e. nonperpendicularity of the camera optical axis to the workpiece surface and incorrect object distance, are mathematically modeled and experimentally verified. A method utilizing four laser displacement sensors is proposed to ensure perpendicularity of the camera optical axis to the workpiece surface and correct object distance in the measurement process, and hence to achieve high accuracy in 2D vision-based measurement. Experiments performed on a robotic drilling system show that the 2D vision system can achieve an accuracy of approximately 0.1mm with the proposed method.