LOCALIZACIÓN DEL ELEMENTO EFECTOR DEL ROBOT PARALELO DE TRES GRADOS DE LIBERTAD PARALIX

Abstract

A methodology using image analysis to determine the position and orientation of end effector element of robot manipulators is presented. After locating the end effector of the robot is possible to estimate the accuracy and repeatability of the robot based on the ISO 9283 standard, this standard provides testing, test methods and formats to present the results to evaluate 14 performance characteristics, but in this study only accuracy and repeatability testing are presented. The methodology consists in stick a calibration pattern to the effector element; the robot is programmed in order to achieve positions described in ISO 9283 standard, a camera is placed in order to observe the robot's end effector element in different positions in the workspace. To find the camera intrinsic and extrinsic parameters the calibration method of Zhang is used, the images taken at the end effector element are analyzed in order to estimate its location matrices, these ones describe the rotation and translation with respect to the camera frame that can generate graphic positioning and orientation. Finaly, once the final data of the position and orientation of end effector element are compared with the positions initialy programmed the robot to determine its accuracy and repeatability the test of accuracy and repeatability for position and orientation of the ISO 9283 is applied. This methodology is applicable to any robot manipulator and the results are based on international standards.