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국내 최대 기계 및 로봇 연구정보
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  • 국내학술지

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    국내학술지 제목 게시판 내용
    제목(국문) 평면 구조물의 단일점 일치를 이용한 2차원 레이저 거리감지센서의 자동 캘리브레이션
    제목(영문) Autonomous Calibration of a 2D Laser Displacement Sensor by Matching a Single Point on a Flat Structure
    저자 NULL
    초록
    초록(영문)
    In this paper, we introduce an autonomous calibration method for a 2D laser displacement sensor (e.g. laser vision sensor and laser range finder) by matching a single point on a flat structure. Many arc welding robots install a 2D laser displacement sensor to expand their application by recognizing their environment (e.g. base metal and seam). In such systems, sensing data should be transformed to the robot’s coordinates, and the geometric relation (i.e. rotation and translation) between the robot’s coordinates and sensor coordinates should be known for the transformation. Calibration means the inference process of geometric relation between the sensor and robot. Generally, the matching of more than 3 points is required to infer the geometric relation. However, we introduce a novel method to calibrate using only 1 point matching and use a specific flat structure (i.e. circular hole) which enables us to find the geometric relation with a single point matching. We make the rotation component of the calibration results as a constant to use only a single point by moving a robot to a specific pose. The flat structure can be installed easily in a manufacturing site, because the structure does not have a volume (i.e. almost 2D structure). The calibration process is fully autonomous and does not need any manual operation. A robot which installed the sensor moves to the specific pose by sensing features of the circular hole such as length of chord and center position of the chord. We show the precision of the proposed method by performing repetitive experiments in various situations. Furthermore, we applied the result of the proposed method to sensor based seam tracking with a robot, and report the difference of the robot’s TCP (Tool Center Point) trajectory. This experiment shows that the proposed method ensures precision.
    keyword 2D laser displacement sensor, LVS (Laser Vision Sensor), LRF (Laser Range Finder), calibration
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 20
    PAGE 218-222
    발표년도 2014
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