High-accuracy pose estimation method for workpiece exchange automation by a mobile manipulator

被引：3
作者：
Oba, Yuta [1 ]
Weaver, Kota [2 ]
Parwal, Anand [2 ]
Nagasue, Hideki [1 ]
Fujishima, Makoto [1 ]
机构：
[1] DMG Mori Co Ltd, Nakamura Ku, 2-35-16 Meieki, Nagoya, Aichi 4500002, Japan
[2] Skylla Technol Inc, 24 Hartwell Ave, Lexington, MA 02421 USA
来源：
CIRP ANNALS-MANUFACTURING TECHNOLOGY | 2021年 / 70卷 / 01期
关键词：
Automation; Accuracy; Mobile manipulator; SYSTEMS;
D O I：
10.1016/j.cirp.2021.04.050
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A mobile manipulator that consists of a robot manipulator and an Automated Guided Vehicle (AGV) was developed to automate transporting and exchanging workpieces for machine tools. Despite less accurate positioning of the AGV, positioning accuracy of 1 mm must be realized during attachment and removal of workpieces. To compensate for an error of the AGV, this paper proposes a novel method of high-accuracy pose estimation using a fiducial marker. Experimental results show that workpiece exchange can be automated with high reliability even though a clearance between a chuck and workpieces in diameter is as small as 1 mm. (c) 2021 CIRP. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：357 / 360
页数：4
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