Simplified Framework for Robot Coordinate Registration for Manufacturing Applications
Jeremy Marvel, Karl Van Wyk
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.
2016 IEEE International Symposium on Assembly and Manufacturing (ISAM)
and Van Wyk, K.
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 9, 2023)