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dc.contributor.authorHuczala, Daniel
dc.contributor.authorOščádal, Petr
dc.contributor.authorSpurný, Tomáš
dc.contributor.authorVysocký, Aleš
dc.contributor.authorVocetka, Michal
dc.contributor.authorBobovský, Zdenko
dc.date.accessioned2021-01-18T08:04:10Z
dc.date.available2021-01-18T08:04:10Z
dc.date.issued2020
dc.identifier.citationApplied Sciences. 2020, vol. 10, issue 21, art. no. 7679.cs
dc.identifier.issn2076-3417
dc.identifier.urihttp://hdl.handle.net/10084/142564
dc.description.abstractFeatured Application A fast and low-cost process for automated identification of positions of workcell components, including robots. Suitable for rapid deployment of robotic applications without a need of previous simulations or CAD modeling. In this paper, a new method for the calibration of robotic cell components is presented and demonstrated by identification of an industrial robotic manipulator's base and end-effector frames in a workplace. It is based on a mathematical approach using a Jacobian matrix. In addition, using the presented method, identification of other kinematic parameters of a robot is possible. The Universal Robot UR3 was later chosen to prove the working principle in both simulations and experiment, with a simple repeatable low-cost solution for such a task-image analysis to detect tag markers. The results showing the accuracy of the system are included and discussed.cs
dc.language.isoencs
dc.publisherMDPIcs
dc.relation.ispartofseriesApplied Sciencescs
dc.relation.urihttp://doi.org/10.3390/app10217679cs
dc.rights© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.cs
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/cs
dc.subjectrobotic manipulatorcs
dc.subjectidentificationcs
dc.subjectcalibrationcs
dc.subjectJacobiancs
dc.subjectworkcell layout detectioncs
dc.titleCamera-based method for identification of the layout of a robotic workcellcs
dc.typearticlecs
dc.identifier.doi10.3390/app10217679
dc.rights.accessopenAccesscs
dc.type.versionpublishedVersioncs
dc.type.statusPeer-reviewedcs
dc.description.sourceWeb of Sciencecs
dc.description.volume10cs
dc.description.issue21cs
dc.description.firstpageart. no. 7679cs
dc.identifier.wos000588912400001


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© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.
Except where otherwise noted, this item's license is described as © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.