Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
To determine the positional relationship between a camera and a robot, calibration is required. Since it takes time, it needs a simple calibration. In this research, we propose a robot positioning method by reducing calibration time. First, multiple robot coordinates are measured from visual tracking, and calibration is performed using the robot coordinates. After that, a target coordinate is calculated using the camera parameters estimated by the calibration, then a robot moves to the target location. Because it is a simple calibration method, the positioning accuracy of the robot is low. Therefore, the camera parameters are modified online using the Levenberg-Marquardt method during the robot operation, thereby the robot positioning accuracy is improved.
