3D Vision Based Calibration Approach for Robotic Laser Surfacing Applications

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F22%3A43965982" target="_blank" >RIV/49777513:23520/22:43965982 - isvavai.cz</a>

Výsledek na webu

<a href="https://ieeexplore.ieee.org/document/9982889" target="_blank" >https://ieeexplore.ieee.org/document/9982889</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ME54704.2022.9982889" target="_blank" >10.1109/ME54704.2022.9982889</a>

Jazyk výsledku

angličtina

Název v původním jazyce

3D Vision Based Calibration Approach for Robotic Laser Surfacing Applications

Popis výsledku v původním jazyce

This paper introduces an integrated approach to calibration and optical measurement processing in the area of robotic 3D vision. The target robotic work-cell consists of a 6-axis industrial manipulator extended by a linear rail and a 2-axis positioner, a color 3D camera and a laser surfacing equipment as the process technology. We have developed a hybrid method for the detection of the calibration checkerboard based on sequential processing of the 2D color image and the 3D point cloud data. This method is further used for both the calibration of the 3D color camera as the robot’s tool and for the calibration of the two-axis servo positioner as the robot’s external coordinate frame. The resulting calibrations will be used for precise detection and positiong of the workpiece during the process of 3D scanning and successive laser surface modification. The resulting precision of the calibration techniques is verified by several experiments.

Název v anglickém jazyce

3D Vision Based Calibration Approach for Robotic Laser Surfacing Applications

Popis výsledku anglicky

This paper introduces an integrated approach to calibration and optical measurement processing in the area of robotic 3D vision. The target robotic work-cell consists of a 6-axis industrial manipulator extended by a linear rail and a 2-axis positioner, a color 3D camera and a laser surfacing equipment as the process technology. We have developed a hybrid method for the detection of the calibration checkerboard based on sequential processing of the 2D color image and the 3D point cloud data. This method is further used for both the calibration of the 3D color camera as the robot’s tool and for the calibration of the two-axis servo positioner as the robot’s external coordinate frame. The resulting calibrations will be used for precise detection and positiong of the workpiece during the process of 3D scanning and successive laser surface modification. The resulting precision of the calibration techniques is verified by several experiments.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/FW03010452" target="_blank" >FW03010452: VÝVOJ METODY AUTONOMNÍ LASEROVÉ MODIFIKACE POVRCHŮ ZA ÚČELEM ČIŠTĚNÍ A STRUKTUROVÁNÍ DÍLŮ V AUTOMOBILOVÉM, KOLEJOVÉM, LETECKÉM A ENERGETICKÉM PRŮMYSLU</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 2022 20th International Conference on Mechatronics - Mechatronika (ME 2022)

ISBN

978-1-66541-040-3

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

—

Název nakladatele

IEEE

Místo vydání

New York

Místo konání akce

Plzeň, Česká republika

Datum konání akce

7. 12. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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