A low-cost monocular vision system for robot calibration

Authors

  • Jesús Abraham Rojas Úrzulo Instituto Politécnico Nacional CICATA unidad Querétaro, México
  • José-Joel González-Barbosa Instituto Politécnico Nacional CICATA unidad Querétaro, México
  • Xochitl Yamile Sandoval Castro Instituto Politécnico Nacional CICATA unidad Querétaro, México
  • Maximiano Francisco Ruiz Torres Instituto Politécnico Nacional CICATA unidad Querétaro, México
  • Erick-Alejandro González-Barbosa Tecnológico Nacional de México/ITS de Irapuato, Irapuato, México

DOI:

https://doi.org/10.5377/nexo.v36i04.16752

Keywords:

Robot calibration, trajectory tracking, D-H model compensation

Abstract

The inverse kinematic model uses robot design parameters: ideal link lengths and mounting angles. In practice, these values hardly coincide with the design values due to manufacturing and assembly processes or continuous use of the robot. In order to reduce this geometric error, it is necessary to calibrate the robot to update the geometric model and reduce the resulting error of the robot end-effector. In this work, we propose a methodology based on a vision system to calibrate the robot's geometric parameters and minimize the error between the robot’s end-effector theoretical and real trajectory. This way, variations are introduced to the geometric parameters that generate errors between the robot's desired position and the position developed. The results show up a reduction of the average position error of 54.6%.

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Published

2023-09-30

How to Cite

Rojas Úrzulo, J. A., González-Barbosa, J.-J., Sandoval Castro, X. Y., Ruiz Torres, M. F., & González-Barbosa, E.-A. (2023). A low-cost monocular vision system for robot calibration. Nexo Scientific Journal, 36(04), 482–494. https://doi.org/10.5377/nexo.v36i04.16752

Issue

Vol. 36 No. 04 (2023)

Section

Articles

License

Copyright (c) 2023 Array

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