Development and self-calibration of a robotic visual inspecting system

DOI

10.2991/mecs-17.2017.1How to use a DOI?

Keywords

self-calibration, hand-eye calibration, robotic visual inspection system, kinematics identification, in-line calibration.

Abstract

The paper proposes a high-accuracy, large-scale robotic visual inspecting system which consists of an industrial robot and an optical scanning sensor fixed on the robot hand. Traditionally, calibration of a robotic visual inspecting system is separated into three parts: Hand-eye calibration, robot calibration and robot exterior calibration. Compared with the traditional calibration method, this paper presents a new self-calibration method to calibrate and compensate for the robotic visual inspecting system's kinematic errors. The proposed calibration approach has two unique features: First, it can be calibrated without external measurement devices and human intervention. Second, it simultaneously calibrates the kinematic parameters of the whole inspecting system in one mathematic model to avoid error propagation. These features not only realize the automatic calibration of the inspecting system but also avoid error propagation. Experiments are conducted on a 6 DOF serial robot to validate the good performance of the proposed method.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chengyi Yu
AU  - Xiaobo Chen
AU  - Juntong Xi
PY  - 2016/06
DA  - 2016/06
TI  - Development and self-calibration of a robotic visual inspecting system
BT  - Proceedings of the 2017 2nd International Conference on Machinery, Electronics and Control Simulation (MECS 2017)
PB  - Atlantis Press
SP  - 1
EP  - 8
SN  - 2352-5401
UR  - https://doi.org/10.2991/mecs-17.2017.1
DO  - 10.2991/mecs-17.2017.1
ID  - Yu2016/06
ER  -