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Unconventional calibration strategies for micromanipulation work-cells

Published online by Cambridge University Press:  20 August 2018

G. Fontana Open the ORCID record for G. Fontana [Opens in a new window] ,
S. Ruggeri Open the ORCID record for S. Ruggeri [Opens in a new window] ,
G. Legnani Open the ORCID record for G. Legnani [Opens in a new window]  and
I. Fassi Open the ORCID record for I. Fassi [Opens in a new window]
G. Fontana*
Affiliation:
Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council, 20133 Milan, Italy. Emails: serena.ruggeri@stiima.cnr.it, giovanni.legnani@unibs.it, irene.fassi@stiima.cnr.it
S. Ruggeri
Affiliation:
Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council, 20133 Milan, Italy. Emails: serena.ruggeri@stiima.cnr.it, giovanni.legnani@unibs.it, irene.fassi@stiima.cnr.it
G. Legnani
Affiliation:
Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council, 20133 Milan, Italy. Emails: serena.ruggeri@stiima.cnr.it, giovanni.legnani@unibs.it, irene.fassi@stiima.cnr.it Department of Mechanical and Industrial Engineering, University of Brescia, 25123 Brescia, Italy
I. Fassi
Affiliation:
Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council, 20133 Milan, Italy. Emails: serena.ruggeri@stiima.cnr.it, giovanni.legnani@unibs.it, irene.fassi@stiima.cnr.it
*
*Corresponding author. E-mail: gianmauro.fontana@stiima.cnr.it
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Summary

This paper presents and compares a set of calibration strategies useful to calibrate vision-based robotised work-cells for micromanipulation and microassembly. To grasp and release microparts precisely, robot calibration, camera calibration and robot-camera registration are needed. Conventional calibration methods are very onerous at the microscale, therefore, two alternative unconventional procedures, called virtual grid calibration and hybrid calibration, are developed for work-cells with high-performance robots, minimising necessary instrumentation. Moreover, an effective calibration of the robot end-effector is designed to compensate for misalignment and orientation errors with respect to the vertical rotational axis. This paper describes the calibration methods and their implementation, the results and the improvements achieved. A detailed comparison between the hybrid and the virtual grid calibrations is provided, demonstrating the higher performance of the latter strategy.

Keywords

MicromanipulationCalibrationCamera calibrationWork-cell accuracy2D vision systems
Type
Articles
Information
Robotica , Volume 36 , Issue 12 , December 2018 , pp. 1897 - 1919
Copyright
Copyright © Cambridge University Press 2018 

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