Industrial camera model positioned on an effector for automated tool center point calibration

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F24%3A10253802" target="_blank" >RIV/61989100:27240/24:10253802 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.nature.com/articles/s41598-023-51011-5" target="_blank" >https://www.nature.com/articles/s41598-023-51011-5</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1038/s41598-023-51011-5" target="_blank" >10.1038/s41598-023-51011-5</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Industrial camera model positioned on an effector for automated tool center point calibration

Popis výsledku v původním jazyce

The study presents a novel, full model of an industrial camera suitable for robotic manipulator tool center point (TCP) calibration. The authors propose a new solution which employs a full camera model positioned on the effector of an industrial robotic arm. The proposed full camera model simulates the capture of a calibration pattern for use in automated TCP calibration. The study describes an experimental test robot stand for producing a reference data set, a full camera model, the parameters of a generally known camera obscura model, and a comparison of proposed solution with the camera obscura model. The results are discussed in the context of an innovative approach which features a full camera model to assist the TCP calibration process. The results showed that the full camera model produced greater accuracy, a significant benefit not provided by other state-of-the-art methods. In several cases, the absolute error produced was up to seven times lower than with the state-of-the-art camera obscura model. The error for small rotation (max. of 5 RING OPERATOR) and small translation (max. of 20 mm) was 3.65 pixels. The results also highlighted the applicability of the proposed solution in real-life industrial processes. (C) 2024, The Author(s).

Název v anglickém jazyce

Industrial camera model positioned on an effector for automated tool center point calibration

Popis výsledku anglicky

The study presents a novel, full model of an industrial camera suitable for robotic manipulator tool center point (TCP) calibration. The authors propose a new solution which employs a full camera model positioned on the effector of an industrial robotic arm. The proposed full camera model simulates the capture of a calibration pattern for use in automated TCP calibration. The study describes an experimental test robot stand for producing a reference data set, a full camera model, the parameters of a generally known camera obscura model, and a comparison of proposed solution with the camera obscura model. The results are discussed in the context of an innovative approach which features a full camera model to assist the TCP calibration process. The results showed that the full camera model produced greater accuracy, a significant benefit not provided by other state-of-the-art methods. In several cases, the absolute error produced was up to seven times lower than with the state-of-the-art camera obscura model. The error for small rotation (max. of 5 RING OPERATOR) and small translation (max. of 20 mm) was 3.65 pixels. The results also highlighted the applicability of the proposed solution in real-life industrial processes. (C) 2024, The Author(s).

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2024

Kód důvěrnosti údajů

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

Název periodika

Scientific Reports

ISSN

2045-2322

e-ISSN

—

Svazek periodika

14

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

16

Strana od-do

—

Kód UT WoS článku

001145989400006

EID výsledku v databázi Scopus

2-s2.0-85181253582