Development of a monocular vision system for robotic drilling
Robotic drilling for aerospace structures demands a high positioning accuracy of the robot, which is usually achieved through error measurement and compensation. In this paper, we report the development of a practical monocular vision system for measurement of the relative error between the drill to...
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| Veröffentlicht in: | Frontiers of information technology & electronic engineering 2014-08, Vol.15 (8), p.593-606 |
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| creator | Zhu, Wei-dong Mei, Biao Yan, Guo-rui Ke, Ying-lin |
| description | Robotic drilling for aerospace structures demands a high positioning accuracy of the robot, which is usually achieved through error measurement and compensation. In this paper, we report the development of a practical monocular vision system for measurement of the relative error between the drill tool center point （TCP） and the reference hole. First, the principle of relative error measurement with the vision system is explained, followed by a detailed discussion on the hardware components, software components, and system integration. The elliptical contour extraction algorithm is presented for accurate and robust reference hole detection. System calibration is of key importance to the measurement accuracy of a vision system. A new method is proposed for the simultaneous calibration of camera internal parameters and hand-eye relationship with a dedicated calibration board. Extensive measurement experiments have been performed on a robotic drilling system. Experimental results show that the measurement accuracy of the developed vision system is higher than 0.15 mm, which meets the requirement of robotic drilling for aircraft structures. |
| doi_str_mv | 10.1631/jzus.C1300379 |
| format | Article |
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In this paper, we report the development of a practical monocular vision system for measurement of the relative error between the drill tool center point （TCP） and the reference hole. First, the principle of relative error measurement with the vision system is explained, followed by a detailed discussion on the hardware components, software components, and system integration. The elliptical contour extraction algorithm is presented for accurate and robust reference hole detection. System calibration is of key importance to the measurement accuracy of a vision system. A new method is proposed for the simultaneous calibration of camera internal parameters and hand-eye relationship with a dedicated calibration board. Extensive measurement experiments have been performed on a robotic drilling system. 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Zhejiang Univ. - Sci. C</addtitle><addtitle>Journal of zhejiang university science</addtitle><description>Robotic drilling for aerospace structures demands a high positioning accuracy of the robot, which is usually achieved through error measurement and compensation. In this paper, we report the development of a practical monocular vision system for measurement of the relative error between the drill tool center point （TCP） and the reference hole. First, the principle of relative error measurement with the vision system is explained, followed by a detailed discussion on the hardware components, software components, and system integration. The elliptical contour extraction algorithm is presented for accurate and robust reference hole detection. System calibration is of key importance to the measurement accuracy of a vision system. A new method is proposed for the simultaneous calibration of camera internal parameters and hand-eye relationship with a dedicated calibration board. Extensive measurement experiments have been performed on a robotic drilling system. Experimental results show that the measurement accuracy of the developed vision system is higher than 0.15 mm, which meets the requirement of robotic drilling for aircraft structures.</description><subject>Accuracy</subject><subject>Aircraft structures</subject><subject>Algorithms</subject><subject>Calibration</subject><subject>Communications Engineering</subject><subject>Computer Hardware</subject><subject>Computer Science</subject><subject>Computer Systems Organization and Communication Networks</subject><subject>Drilling</subject><subject>Electrical Engineering</subject><subject>Electronics and Microelectronics</subject><subject>Error analysis</subject><subject>Instrumentation</subject><subject>Monocular vision</subject><subject>Networks</subject><subject>Robotics</subject><subject>Vision systems</subject><issn>1869-1951</issn><issn>2095-9184</issn><issn>1869-196X</issn><issn>2095-9230</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2014</creationdate><recordtype>article</recordtype><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GNUQQ</sourceid><recordid>eNp1kD1PwzAQhi0EElXpyG7BnGLnYrseGFD5lCqxgMQW2YldUiV2ayeV4NfjqqVM3HI3PO890ovQJSVTyoHerL6HOJ1TIASEPEEjOuMyo5J_nB5vRs_RJMYVSQOMSQ4jdHtvtqb16864HnuLFe6889XQqoC3TWy8w_Er9qbD1gccvPZ9U-E6NG3buOUFOrOqjWZy2GP0_vjwNn_OFq9PL_O7RVYB0D4DUetcW0kZVzJ5a1Wx3BbKUC0FCC6EpRaAFZVWTOtZrqwh3BhNRG2UymGMrvd_18FvBhP7cuWH4JKyzCWdiRwELRKV7akq-BiDseU6NJ0KXyUl5a6kcldS-VtS4qd7PibOLU34-_pf4Oog-PRuuUmZo4HznBQFAwk_gLh2CA</recordid><startdate>20140801</startdate><enddate>20140801</enddate><creator>Zhu, Wei-dong</creator><creator>Mei, Biao</creator><creator>Yan, Guo-rui</creator><creator>Ke, Ying-lin</creator><general>Zhejiang University Press</general><general>Springer Nature B.V</general><scope>2RA</scope><scope>92L</scope><scope>CQIGP</scope><scope>~WA</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PTHSS</scope></search><sort><creationdate>20140801</creationdate><title>Development of a monocular vision system for robotic drilling</title><author>Zhu, Wei-dong ; 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Zhejiang Univ. - Sci. C</stitle><addtitle>Journal of zhejiang university science</addtitle><date>2014-08-01</date><risdate>2014</risdate><volume>15</volume><issue>8</issue><spage>593</spage><epage>606</epage><pages>593-606</pages><issn>1869-1951</issn><issn>2095-9184</issn><eissn>1869-196X</eissn><eissn>2095-9230</eissn><abstract>Robotic drilling for aerospace structures demands a high positioning accuracy of the robot, which is usually achieved through error measurement and compensation. In this paper, we report the development of a practical monocular vision system for measurement of the relative error between the drill tool center point （TCP） and the reference hole. First, the principle of relative error measurement with the vision system is explained, followed by a detailed discussion on the hardware components, software components, and system integration. The elliptical contour extraction algorithm is presented for accurate and robust reference hole detection. System calibration is of key importance to the measurement accuracy of a vision system. A new method is proposed for the simultaneous calibration of camera internal parameters and hand-eye relationship with a dedicated calibration board. Extensive measurement experiments have been performed on a robotic drilling system. Experimental results show that the measurement accuracy of the developed vision system is higher than 0.15 mm, which meets the requirement of robotic drilling for aircraft structures.</abstract><cop>Heidelberg</cop><pub>Zhejiang University Press</pub><doi>10.1631/jzus.C1300379</doi><tpages>14</tpages></addata></record> |
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| subjects | Accuracy Aircraft structures Algorithms Calibration Communications Engineering Computer Hardware Computer Science Computer Systems Organization and Communication Networks Drilling Electrical Engineering Electronics and Microelectronics Error analysis Instrumentation Monocular vision Networks Robotics Vision systems |
| title | Development of a monocular vision system for robotic drilling |
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