Anwendungsspezifische Adaption für schnelle sensorge- stützte Roboterbewegungen Custom-designed adaptation for fast sensor-based robot motion

Usual calibration methods are not always accurate enough to meet the requirements on precision of robots and sensors for fast sensor-based robot motion. Path deviations caused by calibration errors are minimized for a robot mounted camera used for high-speed tracking of a curved line. Adaptation is executed using the application, to reduce the effect of unmodeled features. Inaccuracies of model parameters of the interaction of camera and robot are compensated as well. The experiment quantifies a reduction of the path error by a factor of three, effectuated by the adaptation.

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