A visual positioning and measurement system for robotic drilling
- Resource Type
- Conference
- Authors
- Yuanwei Liu; Zhenyun Shi; Yuan, Peijiang; Chen, Dongdong; Minqing Lin; Zhijun Li
- Source
- 2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) Advanced Motion Control (AMC), 2016 IEEE 14th International Workshop on. :461-466 Apr, 2016
- Subject
- Aerospace
Bioengineering
Components, Circuits, Devices and Systems
Computing and Processing
Robotics and Control Systems
Transportation
Calibration
Cameras
Programming
Robot kinematics
Position measurement
Surface emitting lasers
vision system
robotic drilling
hand-eye calibration
offline programming
- Language
- ISSN
- 1943-6580
In order to increase drilling efficiency, it is necessary for robotic drilling system to take advantage of offline programming method to drill a large number of holes automatically. Vision measurement is needed to correct work piece position because of inconformity between actual object and mathematical models. This paper introduces a visual positioning and measurement system for robotic drilling. A calibration board is designed to obtain hand-eye relationship and four laser range sensors are used to measure surface normal. This paper also summarizes workflow of offline programming and correction methods for different parts. Experiments give the result of hand-eye relationship and prove the position accuracy of vision measurement.