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RISS 인기검색어
- 검색키워드
- 저자 : Vosniakos, George C. (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
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On low cost model-based monitoring of industrial robotic arms using standard machine vision
Karagiannidisa, Aris,Vosniakos, George C. Techno-Press 2014 Advances in robotics research Vol.1 No.1
This paper contributes towards the development of a computer vision system for telemonitoring of industrial articulated robotic arms. The system aims to provide precision real time measurements of the joint angles by employing low cost cameras and visual markers on the body of the robot. To achieve this, a mathematical model that connects image features and joint angles was developed covering rotation of a single joint whose axis is parallel to the visual projection plane. The feature that is examined during image processing is the varying area of given circular target placed on the body of the robot, as registered by the camera during rotation of the arm. In order to distinguish between rotation directions four targets were used placed every $90^{\circ}$ and observed by two cameras at suitable angular distances. The results were deemed acceptable considering camera cost and lighting conditions of the workspace. A computational error analysis explored how deviations from the ideal camera positions affect the measurements and led to appropriate correction. The method is deemed to be extensible to multiple joint motion of a known kinematic chain.
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Prediction and Compensation of Relative Position Error along Industrial Robot End-Effector Paths
Antonios Angelidis,George-Christopher Vosniakos 한국정밀공학회 2014 International Journal of Precision Engineering and Vol. No.
In on-line and especially in off-line programming of industrial robots the attainable accuracy has to be taken into account. Especially in the case of off-line programming along particular trajectories followed, neglecting position errors leads to a need for kinematic calibration procedures which, however, apply to the robot controller level. If end effector error is taken into consideration in off-line programming a compensated commanded trajectory can be programmed. This is different to well-established calibration procedures, because it keeps the original kinematic model of the robot and tries to improve accuracy along the particular trajectory of interest. In this paper, the methodology for measuring, predicting and compensating end effector position errors is presented. A straight line trajectory is used as an example in connection to a particular industrial robotic arm. Measurements are taken using white-light metrology. Based on these measurements an error prediction model is constructed by training an Artificial Neural Network. A second neural network model is trained to yield joint coordinates that minimise position error, which is proved by employing the prediction model on the results of the compensation model.
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