On flange-based 3D hand–eye calibration for soft robotic tactile welding

Han，Xudong1; Guo，Ning1; Jie，Yu1; Wang，He2; Wan，Fang2; Song，Chaoyang1

2024-10-01

10.1016/j.measurement.2024.115376

Measurement: Journal of the International Measurement Confederation   影响因子和分区

0263-2241

This paper investigates the direct application of standardized designs on the robot for conducting robot hand–eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange are exploited by directly capturing its point cloud data. In particular, an iterative method is proposed to facilitate point cloud processing towards a refined calibration outcome. Several extensive experiments are conducted over a range of collaborative robots, including Universal Robots UR5 & UR10 e-series, Franka Emika, and AUBO i5 using an industrial-grade 3D scanner Photoneo Phoxi S & M and a commercial-grade 3D scanner Microsoft Azure Kinect DK. Experimental results show that translational and rotational errors converge efficiently to less than 0.28 mm and 0.25 degrees, respectively, achieving a hand–eye calibration accuracy as high as the camera's resolution, probing the hardware limit. A welding seam tracking system is presented, combining the flange-based calibration method with soft tactile sensing. The experiment results show that the system enables the robot to adjust its motion in real-time, ensuring consistent weld quality and paving the way for more efficient and adaptable manufacturing processes.

3D vision Hand–eye calibration Measurement standards Robotic welding

SCI ; EI

英语

第一 ; 通讯

20243116796450

Calibration ; Flanges ; Iterative methods ; Machine design ; Windows operating system

Mechanical Design:601 ; Pipe Accessories:619.1.1 ; Computer Software, Data Handling and Applications:723 ; Robotics:731.5 ; Numerical Methods:921.6

ENGINEERING

2-s2.0-85199952522

Scopus

1.Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,1088 Xueyuan Avenue, Guangdong,518055,China
2.School of Design,Southern University of Science and Technology,Shenzhen,1088 Xueyuan Avenue, Guangdong,518055,China

Han，Xudong,Guo，Ning,Jie，Yu,等. On flange-based 3D hand–eye calibration for soft robotic tactile welding[J]. Measurement: Journal of the International Measurement Confederation,2024,238.

Han，Xudong,Guo，Ning,Jie，Yu,Wang，He,Wan，Fang,&Song，Chaoyang.(2024).On flange-based 3D hand–eye calibration for soft robotic tactile welding.Measurement: Journal of the International Measurement Confederation,238.

Han，Xudong,et al."On flange-based 3D hand–eye calibration for soft robotic tactile welding".Measurement: Journal of the International Measurement Confederation 238(2024).