Marvel, J.
and Van Wyk, K.
(2016),
Simplified Framework for Robot Coordinate Registration for Manufacturing Applications, 2016 IEEE International Symposium on Assembly and Manufacturing (ISAM), Fort Worth, TX, US, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=919991
(Accessed December 21, 2024)
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Simplified Framework for Robot Coordinate Registration for Manufacturing Applications
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Abstract
A simplified framework is introduced for automatically and quickly registering the Cartesian coordinate systems of industrial robots to any other arbitrary coordinate system. This framework includes both explicit and implicit (sensor-based) registration techniques using as few as three reference poses per robot. Driven by the guiding principles of simplifying the registration process to enable rapid installation by non-expert users, a mathematical basis for fast system registration is presented. Several case study examples are provided in which the registration performance is captured across four different registration methods, and two different robots. A reference motion capture system is used to capture post-registration positioning accuracy of the robots, and results are systematically quantified.Proceedings Title
2016 IEEE International Symposium on Assembly and Manufacturing (ISAM)
Conference Dates
August 21-24, 2016
Conference Location
Fort Worth, TX, US
Pub Type
Conferences
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Keywords
robot registration, sensor registration, robot performance, multi-robot coordination
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Created August 23, 2016, Updated April 6, 2022