Development of automated accuracy control tools for robotic equipment

International Conference of Young Scientists and Students "Topical Problems of Mechanical Engineering 2018"

Potapov, A.A.^1 ; Fedorov, A.A.^1 ; Masyuk, V.M.^1 ; Orekhov, S.Y.^1

Kaluga Branch of Bauman Moscow State Technical University, Bazhenova st., 4, Kaluga

248004, Russia^1

关键词: Accuracy control;    Automated control;    Experimental scheme;    Optical measurement;    Repeatability of results;    Robotic equipments;    Robotic manipulators;    Robotic mechanisms;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/489/1/012059/pdf
DOI  :  10.1088/1757-899X/489/1/012059

来源: IOP

【 摘 要 】

This paper proposes a new method of visual automated control based on optical measurements. In this article, we investigate a number of questions concerning the organization of measurements, calibration of the data obtained, and interpretation of results. An experimental scheme is given, the coordinates of the gripper of a robotic manipulator are obtained by different methods, the accuracy is estimated. It is concluded that the use of the proposed method based on visual markers for obtaining coordinates based on visual markers has high accuracy, good repeatability of results and can be used to control the positioning of new robotic mechanisms at the testing and commissioning stage.