Optically assisted absolute positioning of robots in a working cell utilizing optimization algorithms

Tobias Roß; Klaus Lutter; Christian Ennes; Thorsten Uphues

doi:10.1117/12.3022102

20 June 2024 Optically assisted absolute positioning of robots in a working cell utilizing optimization algorithms

Tobias Roß, Klaus Lutter, Christian Ennes, Thorsten Uphues

Proceedings Volume 12999, Optical Sensing and Detection VIII; 129991Q (2024) https://doi.org/10.1117/12.3022102
Event: SPIE Photonics Europe, 2024, Strasbourg, France

Abstract

Unlike robots, humans have no problem working hand in hand. However, when robots try to perform tasks that require precision, they always face a major problem: they are not precise enough in combination. This problem is especially relevant when the application requires high precision. One of the main reasons for this is that the robots usually do not know each other’s position or have an absolute calibration of the common coordinate system with the required accuracy. We will present our approach to introduce precise alignment procedures in a robotic cell using optically assisted methods. Subsequent analysis of the acquired data by tailored optimization algorithms provide an accurate and absolute coordinate system for a robot ensemble. The accuracy is typically limited by the workspace environment. Mostly acoustic vibrations will define the lower limit of the absolute precision to retrieve a global coordinate system within the working environment. In this work we present an analysis of common limitations as well as an algorithmic procedure to retrieve a global orthonormal basis for the robotic workcell, independent of the number of robots in the ensemble. As an intermediate result of our ongoing research, we can demonstrate a repeatable adjustment accuracy of less than 100μm euclidean distance from a common center.

Conference Presentation

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Tobias Roß, Klaus Lutter, Christian Ennes, and Thorsten Uphues "Optically assisted absolute positioning of robots in a working cell utilizing optimization algorithms", Proc. SPIE 12999, Optical Sensing and Detection VIII, 129991Q (20 June 2024); https://doi.org/10.1117/12.3022102

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available