1 research outputs found
Vision based robot manipulator error compensation
openCurrently one of the most important obstacles to a wider utilization of robots
in industry is their accuracy. This is a critical issue for applications that allow
no margin of error such as medical applications or precision machining. A
possibility is to solve the problem at its root by manufacturing better robot,
but that would require substantial economical and time investments. A viable
alternative is to improve the robot accuracy through a calibration process, either
by creating a model of the robot that closely represents the real robot or by
studying the error model of the robot to compensate it directly. The aim of
this study is to develop a correction algorithm to improve the robot accuracy
by remapping the robot workspace through the use of computer vision and
machine leaning techniques. Different correction techniques were tested against
each other to find the one that would bring the robot accuracy closer to its
repeatability, together with some important additions to seamlessly include the
correction algorithm into an existing pipeline.Currently one of the most important obstacles to a wider utilization of robots
in industry is their accuracy. This is a critical issue for applications that allow
no margin of error such as medical applications or precision machining. A
possibility is to solve the problem at its root by manufacturing better robot,
but that would require substantial economical and time investments. A viable
alternative is to improve the robot accuracy through a calibration process, either
by creating a model of the robot that closely represents the real robot or by
studying the error model of the robot to compensate it directly. The aim of
this study is to develop a correction algorithm to improve the robot accuracy
by remapping the robot workspace through the use of computer vision and
machine leaning techniques. Different correction techniques were tested against
each other to find the one that would bring the robot accuracy closer to its
repeatability, together with some important additions to seamlessly include the
correction algorithm into an existing pipeline