Calibración ojo a mano de un brazo robótico industrial con cámaras 3D de luz estructurada

Ignacio Diaz-Cano; Fernando M. Quintana; Pedro L. Galindo; Arturo Morgado-Estevez

doi:10.4995/riai.2021.16054

Autores/as

Ignacio Diaz-Cano Universidad de Cádiz https://orcid.org/0000-0002-5353-6760
Fernando M. Quintana Universidad de Cádiz https://orcid.org/0000-0001-5042-9399
Pedro L. Galindo Universidad de Cádiz https://orcid.org/0000-0003-0892-8113
Arturo Morgado-Estevez Universidad de Cádiz https://orcid.org/0000-0002-3639-3649

DOI:

https://doi.org/10.4995/riai.2021.16054

Palabras clave:

Calibración ojo a mano, Robótica industrial, Visión por computador aplicada a la robótica, Sistemas robóticos autónomos

Resumen

La visión artificial está cobrando cada día más auge en el mundo de la robótica industrial, ya que es necesario realizar tareas cada vez más precisas y autónomas, por lo que se necesita un posicionamiento del robot más exacto. Para ello se precisa del apoyo de un sistema de visión que sea el que preste al robot precisión en su pose, calibrando dicho sistema con respecto al robot. Este trabajo presenta una metodología sencilla para abordar esta forma de calibración, llamada ojo a mano, empleando una cámara 3D de luz estructurada que obtiene la información del mundo real y un brazo robótico industrial de seis ejes. Esto permite utilizar el algoritmo RANSAC para la determinación de los planos, cuya intersección nos da las coordenadas de los puntos,lo que supone una reducción notable de los errores, ya que las coordenadas proceden de planos ajustados a miles de puntos, lo cual hace que el sistema sea más robusto y capaz de obtener una matriz de transformación de las coordenadas de la cámara a la base del robot, que le permitirá abordar cualquier tarea que precise con una precisión eficiente. Se ha realizado el análisis de errores resultante utilizando dos cámaras 3D diferentes: una básica (Kinect 360) y otra industrial (Zivid ONE+ M).

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Biografía del autor/a

Ignacio Diaz-Cano, Universidad de Cádiz

Dpto. Ingeniería en Automática, Electrónica, Arquitectura y Redes

Fernando M. Quintana, Universidad de Cádiz

Dpto. de Informática e Ingeniería

Pedro L. Galindo, Universidad de Cádiz

Dpto. de Informática e Ingeniería

Arturo Morgado-Estevez, Universidad de Cádiz

Dpto. Ingeniería en Automática, Electrónica, Arquitectura y Redes

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