liu.seSearch for publications in DiVA
Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Camera Based Concept for Enhancement of IRB Accuracy using Fixed Features and SLAM
Linköpings universitet, Tekniska högskolan. Linköpings universitet, Institutionen för konstruktions- och produktionsteknik, Fluid och mekanisk systemteknik.
Linköpings universitet, Tekniska högskolan. Linköpings universitet, Institutionen för konstruktions- och produktionsteknik, Produktionsteknik.
2006 (engelsk)Inngår i: 8th Biennal ASME Conference on Engineering Systems Design and Analysis,2006, Torino: ESDA , 2006Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

A standard IRB (Industrial Robot) of today is not capable of positioning itsels to within better than 2-5mm relative to a given structure or object. In order to be able to perform high precision manufacturing, the requirement is less than 0,5mm. Existing solutions for 6DOF measurements to enhance the accuracy are not only expensive but also lacks flexibility. An affordable, accurate concept for IRB closed loop position feedback is presented here. This article proposes a method for using a camera together with fixed features to enhance the accuracy of an IRB in industrial manufacturing processes. The method is based on SLAM (Simultaneous Localization and Mapping), used to structure collected information about the features (mapping), and for the IRB to locate itself among the features (localization). The concept covers a scenario in which a set of features are placed within the working area. A camera is mounted on the IRB to observe (measure) the relative pose of the feature set. When the system is running observation of only one feature increases accuracy. However, in normal operation more features are observed which will increase accuracy further. The system setup is a standard IRB, ABB4400, on which a single camera with IR flash is mounted and used as sensor. The features are made out of reflectors that are placed in the production cell. The camera is also equipped with an IRfilter to improve the signal to noise ratio, simplifying image processing and accelerating execution. The execution time is critical since the goal is to sample at such rate that as to cover the dynamics of the robot. 

sted, utgiver, år, opplag, sider
Torino: ESDA , 2006.
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-36929Lokal ID: 33076OAI: oai:DiVA.org:liu-36929DiVA, id: diva2:257778
Merknad
ESDA2006-95312Tilgjengelig fra: 2009-10-10 Laget: 2009-10-10

Open Access i DiVA

Fulltekst mangler i DiVA

Personposter BETA

Andersson, LarsBerglund, Marcus

Søk i DiVA

Av forfatter/redaktør
Andersson, LarsBerglund, Marcus
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric

urn-nbn
Totalt: 239 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf