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Camera Based Concept for Enhancement of IRB Accuracy using Fixed Features and SLAM
Linköping University, The Institute of Technology. Linköping University, Department of Mechanical Engineering, Fluid and Mechanical Engineering Systems.
Linköping University, The Institute of Technology. Linköping University, Department of Mechanical Engineering, Production Engineering.
2006 (English)In: 8th Biennal ASME Conference on Engineering Systems Design and Analysis,2006, Torino: ESDA , 2006Conference paper, Published paper (Refereed)
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. 

Place, publisher, year, edition, pages
Torino: ESDA , 2006.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-36929Local ID: 33076OAI: oai:DiVA.org:liu-36929DiVA: diva2:257778
Note
ESDA2006-95312Available from: 2009-10-10 Created: 2009-10-10

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Andersson, LarsBerglund, Marcus

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf