ステレオカメラによる水平多関節形ロボットの位置決め精度の補正 : 3次元誤差モデルとステレオカメラを用いた校正

概要

論文の詳細を見る
SCARA robots are used in the assembly tasks because of its excellent characteristics. The repeatability of the assembly robot is about 0.02mm in average but the absolute positioning accuracy is not so good. The lack of absolute positioning ability causes the obstruction of the effective off line teaching by CAD. To improve the absolute positioning accuracy, machine vision system especially stereo camera system is useful. In this study, the 3D error model of the SCARA type robot is proposed and calibration method of the error parameters using stereo CCD camera measurement is presented. Tue positioning accuracy is improved up to 0.12mm in the root mean square and less than 0.20mm in maximum value.
公益社団法人精密工学会の論文
2001-10-05