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Hand-eye calibration for robot manipulation based on visual servoing
Marina Tošeski (2017)
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Computer Engineering and Automation
Chair of Automation and Robotics
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Tošeski, M. (2017). Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu (Master's thesis). Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:606415

Tošeski, Marina. "Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2017. https://urn.nsk.hr/urn:nbn:hr:200:606415

Tošeski, Marina. "Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2017. https://urn.nsk.hr/urn:nbn:hr:200:606415

Tošeski, M. (2017). 'Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 24 February 2019, https://urn.nsk.hr/urn:nbn:hr:200:606415

Tošeski M. Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2017 [cited 2019 February 24] Available at: https://urn.nsk.hr/urn:nbn:hr:200:606415

M. Tošeski, "Kalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:200:606415

Metadata
TitleKalibracija robotske ruke i kamere za robotsku manipulaciju zasnovanu na vizualnom servoingu
AuthorMarina Tošeski
Mentor(s)Robert Cupec (thesis advisor)
Petra Đurović (thesis advisor)
Abstract
Razvijen je računalni program za kalibraciju robotskog manipulatora i kamere, koji na temelju niza slika dobivenih kamerom određuje odnos koordinatnog sustava kamere i koordinatnog sustava robotskog manipulatora. Točnost kalibracije ispitana je pokusima s robotskim manipulatorom. Kalibracija se vrši nad Dobot ARM V1.0 te RGB-D Orbbec Astra S kamerom U radu je obrađena primjena računalnog vida, kao i teorijsko rješenje problema kalibracije primjenom rješenja zatvorenog oblika. Navedeno rješenje kao rezultat daje homogenu transformacijsku matricu između koordinatnog sustava korištenog robotskog manipulatora i kamere. Točnost kalibracije, koja se postiže razvijenim programom, eksperimentalno je ispitana mjerenjem odstupanja pozicija alata izmjerenih sustavom računalnog vida od pozicija zadanih robotskom manipulatoru. Također je ispitana i primjena razmatrane kalibracije za vizualni servoing.
Keywordsrobotic vision calibration robotic arm RGB-D camera visual servoing
Parallel title (English)Hand-eye calibration for robot manipulation based on visual servoing
Committee MembersRobert Cupec (committee chairperson)
Irena Galić (committee member)
Ratko Grbić (committee member)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Lower level organizational unitsDepartment of Computer Engineering and Automation
Chair of Automation and Robotics
PlaceOsijek
StateCroatia
Scientific field, discipline, subdisciplineTECHNICAL SCIENCES
Computing
Process Computing
Study programme typeuniversity
Study levelgraduate
Study programmeGraduate University Study Programme in Computer Engineering
Academic title abbreviationmag.ing.comp.
Genremaster's thesis
Language Croatian
Defense date2017-09-28
Parallel abstract (English)
A computer program for calibration of a robotic arm and a camera has been developed, which, based on series of images obtained by the camera, determines the relative pose between the camera coordinate systems and the robotic arm coordinate system. Calibration accuracy has been tested experimentally. Calibration is performed on Dobot ARM V1.0 and RGB-D Orbbec Astra S camera. Application of computer vision in robotics is discussed. A teoretical closed-form solution to the considered calibration problem is described, which gives a homogenous transformation matix between the camera coordinate system and the robotic arm coordinate system as the result. Calibration accuracy, achieved by the developed program, is tested experimentally by measuring the difference between the tool positions measured by computer vision and the positions given to the robotic arm. Furthermore, application of the considered calibration for visual servoing was tested.
Parallel keywords (Croatian)robotski vid kalibracija robotski manipulator RGB-D kamera vizualni servoing
Resource typetext
Access conditionOpen access
Terms of usehttp://rightsstatements.org/vocab/InC/1.0/
URN:NBNhttps://urn.nsk.hr/urn:nbn:hr:200:606415
Repositoryhttps://repozitorij.etfos.hr