Geometric calibration of seven degree of freedom Robotic Sample Holder for X-ray CT
Pekel E, Schaff F, Dierolf M, Pfeiffer F, Lasser T (2022)
Publication Type: Conference contribution
Publication year: 2022
Journal
Publisher: SPIE
Book Volume: 12304
Conference Proceedings Title: Proceedings of SPIE - The International Society for Optical Engineering
Event location: Virtual, Online
ISBN: 9781510656697
DOI: 10.1117/12.2646492
Abstract
We present a geometric calibration method for integrating a seven degrees of freedom robotic arm as a sample holder within an existing laboratory X-ray computed tomography setup. We aim to provide a flexible sample holder that is able to execute non-standard and task-specific trajectories for complex samples. The calibration is necessary to identify the accurate pose of the sample which deviates from the expected pose due to inaccurate placement of the robotic arm. The robotic arm is integrated with a unified software package that allows for path planning, collision detection, geometric calibration and reconstruction of the sample. With our software the user is able to command the robotic arm to execute arbitrary trajectories for a given sample in a safe manner and output its reconstruction to the user. We present experimental results with a circular trajectory where the robotic sample holder achieves identical visual quality compared to a conventional sample holder.
Involved external institutions
Germany (DE)How to cite
APA:
Pekel, E., Schaff, F., Dierolf, M., Pfeiffer, F., & Lasser, T. (2022). Geometric calibration of seven degree of freedom Robotic Sample Holder for X-ray CT. In Joseph Webster Stayman (Eds.), Proceedings of SPIE - The International Society for Optical Engineering. Virtual, Online: SPIE.
MLA:
Pekel, Erdal, et al. "Geometric calibration of seven degree of freedom Robotic Sample Holder for X-ray CT." Proceedings of the 7th International Conference on Image Formation in X-Ray Computed Tomography, Virtual, Online Ed. Joseph Webster Stayman, SPIE, 2022.
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