Reducing Localization Error of Vision-Guided Industrial Robots

Abstract

In many manufacturing applications, such as automated drilling or inspection of large parts, accurate knowledge of both position and orientation of the robot end-effector is critical. In this paper, a method for reducing robot end-effector position and orientation error is presented. Experimental results show that the method can reduce the median position error by 97% (to 0.3 mm) and the median orientation error by 57% (to 0.27 deg). Limitations of the method caused by the hand-eye calibration are discussed.