Compensation for positioning error of industrial robot for flexible vision measuring system

Lei Guo; Yajun Liang; Jincheng Song; Zengyu Sun; Jigui Zhu

doi:10.1117/12.2015046

31 January 2013 Compensation for positioning error of industrial robot for flexible vision measuring system

Lei Guo, Yajun Liang, Jincheng Song, Zengyu Sun, Jigui Zhu

Author Affiliations +

Proceedings Volume 8759, Eighth International Symposium on Precision Engineering Measurement and Instrumentation; 87592Z (2013) https://doi.org/10.1117/12.2015046
Event: International Symposium on Precision Engineering Measurement and Instrumentation 2012, 2012, Chengdu, China

Abstract

Positioning error of robot is a main factor of accuracy of flexible coordinate measuring system which consists of universal industrial robot and visual sensor. Present compensation methods for positioning error based on kinematic model of robot have a significant limitation that it isn’t effective in the whole measuring space. A new compensation method for positioning error of robot based on vision measuring technique is presented. One approach is setting global control points in measured field and attaching an orientation camera to vision sensor. Then global control points are measured by orientation camera to calculate the transformation relation from the current position of sensor system to global coordinate system and positioning error of robot is compensated. Another approach is setting control points on vision sensor and two large field cameras behind the sensor. Then the three dimensional coordinates of control points are measured and the pose and position of sensor is calculated real-timely. Experiment result shows the RMS of spatial positioning is 3.422mm by single camera and 0.031mm by dual cameras. Conclusion is arithmetic of single camera method needs to be improved for higher accuracy and accuracy of dual cameras method is applicable.

Citation Download Citation

Lei Guo, Yajun Liang, Jincheng Song, Zengyu Sun, and Jigui Zhu "Compensation for positioning error of industrial robot for flexible vision measuring system", Proc. SPIE 8759, Eighth International Symposium on Precision Engineering Measurement and Instrumentation, 87592Z (31 January 2013); https://doi.org/10.1117/12.2015046

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