Concept and architecture of a new apparatus for cylindrical form measurement with a nanometric level of accuracy

In relation to the industrial need and to the progress of technology, Laboratoire National de M´etrologie et d’Essais (LNE) would like to improve the measurement of its primary pressure standards, spherical and flick standards. The spherical and flick standards are, respectively, used to calibrate the spindle motion error and the probe, which equip commercial conventional cylindricity-measuring machines. The primary pressure standards are obtained using pressure balances equipped with rotary pistons. To reach a relative uncertainty of 10−6 in the pressure measurement, it is necessary to know the diameters of both the piston and the cylinder with an uncertainty of 5 nm for a piston diameter of 10 mm. Conventional machines are not able to reach such an uncertainty level. That is why the development of a new machine is necessary. The purpose of this paper is to present the concepts and the architecture adopted in the development of the new equipment dedicated to cylindricity measurement at a nanometric level of a accuracy. The choice of these concepts is based on the analysis of the uncertainty sources encountered in conventional architectures. The architecture of the new ultra-high equipment as well as the associated calibration procedures will be described and detailed.Thèse CIFR

Extrinisic Calibration of a Camera-Arm System Through Rotation Identification

Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as calibration targets. We propose a method that relies on structured motion of an observed arm to recover extrinsic calibration parameters. Our method combines known arm kinematics with observations of conics in the image plane to calculate maximum-likelihood estimates for calibration extrinsics. This method is validated in simulation and tested against a real-world model, yielding results consistent with ruler-based estimates. Our method shows promise for estimating the pose of a camera relative to an articulated arm's end effector without requiring tedious measurements or external artifacts. Index Terms: robotics, hand-eye problem, self-calibration, structure from motio

Concept and architecture of a new apparatus for cylindrical form measurement with a nanometric level of accuracy

In relation to the industrial need and to the progress of technology, Laboratoire National de M´etrologie et d’Essais (LNE) would like to improve the measurement of its primary pressure standards, spherical and flick standards. The spherical and flick standards are, respectively, used to calibrate the spindle motion error and the probe, which equip commercial conventional cylindricity-measuring machines. The primary pressure standards are obtained using pressurebalances equipped with rotary pistons. To reach a relative uncertainty of 10−6 in the pressure measurement, it is necessary to know the diameters of both the piston and the cylinder with an uncertainty of 5 nm for a piston diameter of 10 mm. Conventional machines are not able to reach such an uncertainty level. That is why the development of a new machine is necessary. The purpose of this paper is to present the concepts and the architecture adopted in the development of the new equipment dedicated to cylindricity measurement at a nanometric level of a accuracy. The choice of these concepts is based on the analysis of the uncertainty sources encountered in conventional architectures. The architecture of the new ultra-high equipment as well as the associated calibration procedures will be described and detailed.International audienceIn relation to the industrial need and to the progress of technology, Laboratoire National de M´etrologie et d’Essais (LNE) would like to improve the measurement of its primary pressure standards, spherical and flick standards. The spherical and flick standards are, respectively, used to calibrate the spindle motion error and the probe, which equip commercial conventional cylindricity-measuring machines. The primary pressure standards are obtained using pressurebalances equipped with rotary pistons. To reach a relative uncertainty of 10−6 in the pressure measurement, it is necessary to know the diameters of both the piston and the cylinder with an uncertainty of 5 nm for a piston diameter of 10 mm. Conventional machines are not able to reach such an uncertainty level. That is why the development of a new machine is necessary. The purpose of this paper is to present the concepts and the architecture adopted in the development of the new equipment dedicated to cylindricity measurement at a nanometric level of a accuracy. The choice of these concepts is based on the analysis of the uncertainty sources encountered in conventional architectures. The architecture of the new ultra-high equipment as well as the associated calibration procedures will be described and detailed