The Role of Absolute Positioning Error in Hand-Eye Calibration and Robotic Guidance Systems: An Analysis

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F23%3A43969533" target="_blank" >RIV/49777513:23520/23:43969533 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/document/10342337" target="_blank" >https://ieeexplore.ieee.org/document/10342337</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS55552.2023.10342337" target="_blank" >10.1109/IROS55552.2023.10342337</a>

Result language
angličtina
Original language name
The Role of Absolute Positioning Error in Hand-Eye Calibration and Robotic Guidance Systems: An Analysis
Original language description
Robotic manipulators deal with serious issues due to their absolute positioning error. This error is usually compensated by an operator in classical robot programming using the teach-and-play method. However, it has a significant effect on accuracy of robotic guidance systems (RGS) that automatically generate process tool trajectory based on the measured data from a sensor. In this paper, we firstly describe the various components of an RGS that affect its overall accuracy. We then introduce a proposed model for the calibration process (MCP) that can be used to analyze the effect of absolute positioning errors on the accuracy of hand-eye calibration, six-point calibration of a process tool and mutual transformation between these tools. Simulations were used to evaluate the proposed MCP model. The results of this analysis are crucial for the practical use of RGS.
Czech name
—
Czech description
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Project
<a href="/en/project/FW03010452" target="_blank" >FW03010452: DEVELOPMENT OF THE METHOD OF AUTONOMOUS LASER MODIFICATION OF SURFACES FOR THE PURPOSE OF CLEANING AND STRUCTURING OF PARTS IN THE AUTOMOTIVE, RAILWAY, AVIATION AND ENERGY INDUSTRY</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
The proceedings of 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISBN
978-1-66549-190-7
ISSN
2153-0858
e-ISSN
2153-0866
Number of pages
6
Pages from-to
1797-1802
Publisher name
IEEE
Place of publication
New York
Event location
Detroit, USA
Event date
Oct 1, 2023
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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