Calibración ojo a mano de un brazo robótico industrial con cámaras 3D de luz estructurada

  1. Ignacio Diaz-Cano 1
  2. Fernando M. Quintana 1
  3. Pedro L. Galindo 1
  4. Arturo Morgado-Estevez 1
  1. 1 Universidad de Cádiz, España
Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Any de publicació: 2022

Volum: 19

Número: 2

Pàgines: 154-163

Tipus: Article

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Altres publicacions en: Revista iberoamericana de automática e informática industrial ( RIAI )

Resum

Computer vision is gaining more and more importance in the world of industrial robotics, since it is necessary to carry out increasingly precise and autonomous tasks, which is why a more exact positioning of the robot is needed. This requires the support of a vision system that is the one that gives the robot precision in its pose, calibrating said system with respect to the robot. This work presents a simple methodology to approach this form of calibration, called hand-eye, using a structured light 3D camera that obtains information from the real world and a six-axis industrial robotic arm. The method uses the RANSAC algorithm for the determination of the planes, which represents a notable reduction in errors, since the coordinates of the points sought come from planes adjusted to thousands of points. This allows the system to always have the ability to obtain a transformation matrix from the coordinates of the camera to the base of the robot. In addition, the proposed method is ideal for making a precision comparison between cameras, due to its simplicity and speed of use. In this study, the resulting error analysis was performed using two dfferent 3D cameras: a basic one (Kinect 360) and an industrial one (Zivid ONE + M).

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Fuente de los datos: Dialnet