Robotic manipulator arms positioning error measurement using image registration

Abstract

In this work, a repeatability assessment scheme was introduced for an XY-Theta platform using phase correlation based method. The advantage of the proposed computer vision based scheme is that it avoids mechanical contact between the measurement device and the robot and can be implemented easily. This platform is held by a serial robot arm actuated with four revolute joints. Experiments were performed under different illumination, working status and number of robot arms to assess positioning error caused by a variety of factors. Experimental results indicated that compared with our previous evaluation methods, this scheme reached satisfactory results on the same platform.