Method for Vectorial Robot Movement Determination Enabling Accuracy Improvements

Conference contribution
(Conference Contribution)


Publication Details

Author(s): Buschhaus A, Franke J, Apel N
Editor(s): IEEE
Publication year: 2015
Conference Proceedings Title: 2015 IEEE International Conference on Control, Automation and Robotics
Pages range: 24--31


Abstract


Promising approaches for robot accuracy improvements belong to the visual servoing methods. These methods comprise closed-loop control systems, which utilize sensors to guide the robot relative to visible features of a work-piece. However, the known methods show limitations regarding their usability for highly accurate applications or tasks without a predetermined process pathway. To overcome this problem, at FAPS a system for high-speed monitoring of the work-piece's movement is investigated. The system enables a closed-loop control of the robots motion, if a deviation between actual and planned movement is determined. For the actual movement determination, a highly efficient and accurate image data processing system, based on a vectorial movement deter-mination of fiducial markers is developed. In this context, a highly efficient and geometrical accurate actual state determi-nation constitutes a significant challenge. Experiments show, that the system allows a position determination in an area of ten microns at a frequency faster than 500 Hz, thus enabling a reactive robot control and accuracy improvement.



FAU Authors / FAU Editors

Buschhaus, Arnd
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Franke, Jörg Prof. Dr.-Ing.
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik


How to cite

APA:
Buschhaus, A., Franke, J., & Apel, N. (2015). Method for Vectorial Robot Movement Determination Enabling Accuracy Improvements. In IEEE (Eds.), 2015 IEEE International Conference on Control, Automation and Robotics (pp. 24--31).

MLA:
Buschhaus, Arnd, Jörg Franke, and Nicky Apel. "Method for Vectorial Robot Movement Determination Enabling Accuracy Improvements." Proceedings of the 2015 IEEE International Conference on Control, Automation and Robotics Ed. IEEE, 2015. 24--31.

BibTeX: 

Last updated on 2018-10-08 at 21:41