Title: Computer vision based positional error compensation of an industrial robot using linear regression analysis

Authors: T. Sornakumar, C. Paramasivam

Addresses: Department of Mechanical Engineering, Thiagarajar College of Engineering, Madurai – 625 015, India. ' Department of Mechanical Engineering, Thiagarajar College of Engineering, Madurai – 625 015, India

Abstract: This paper describes the experimental procedure to determine and compensate the positional error of a five Degrees-Of-Freedoms (DOFs) industrial robot using linear regression analysis. Vision-based experiment has been conducted on an IR52C industrial robot with necessary accessories, which consists of four modules namely image interpretation, calibration, implementation and regression. Experiments have been conducted exclusively for performing regression analysis and the results of all four modules are given separately. The robot|s work area is captured and the position of the target object with respect to camera|s origin is determined. These camera coordinates are transformed into robot coordinates using appropriate rigid body transformations. Finally, the experimental procedure was implemented with an IR52C industrial robot and it was found that the robot is reaching the target position accurately.

Keywords: industrial robots; camera calibration; linear regression; vision techniques; positional errors; transformations; computer vision; error compensation; robot positioning.

DOI: 10.1504/IJMR.2008.017419

International Journal of Manufacturing Research, 2008 Vol.3 No.2, pp.252 - 264

Published online: 06 Mar 2008 *

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