Camera-based method for identification of the layout of a robotic workcell

Abstract

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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.