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Simplified Framework for Robot Coordinate Registration for Manufacturing Applications

Published

Author(s)

Jeremy Marvel, Karl Van Wyk

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

Keywords

robot registration, sensor registration, robot performance, multi-robot coordination

Citation

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 June 19, 2024)

Issues

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Created August 23, 2016, Updated April 6, 2022