Camera-Based Method for Identification of the Layout of a Robotic Workcell

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F20%3A10245731" target="_blank" >RIV/61989100:27230/20:10245731 - isvavai.cz</a>
Result on the web
<a href="https://www.mdpi.com/2076-3417/10/21/7679" target="_blank" >https://www.mdpi.com/2076-3417/10/21/7679</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/app10217679" target="_blank" >10.3390/app10217679</a>

Result language
angličtina
Original language name
Camera-Based Method for Identification of the Layout of a Robotic Workcell
Original language description
In this paper, a new method for the calibration of robotic cell components is presented and demonstrated by identification of an industrial robotic manipulator's base and end-effector frames in a workplace. It is based on a mathematical approach using a Jacobian matrix. In addition, using the presented method, identification of other kinematic parameters of a robot is possible. The Universal Robot UR3 was later chosen to prove the working principle in both simulations and experiment, with a simple repeatable low-cost solution for such a task - image analysis to detect tag markers. The results showing the accuracy of the system are included and discussed.
Czech name
—
Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20300 - Mechanical engineering

Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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