J.M. Lagerberg

A low-cost pose-measuring system for robot calibration

To maintain robot accuracy, calibration equipment is needed. In this paper we present a self-calibrating measuring system based on a camera in the robot hand plus a known reference object in the robot workspace. A collection of images of the reference object is obtained. Using image-processing, image-recognition and photogrammetric techniques, the positions and orientations of the camera are computed. The essential geometrical and optical camera parameters can be derived from the redundancy in the measurements. From each image the positions of markers on the reference object are extracted and the individual markers are identified. The camera positions for all images plus the parameters of the camera are solved together in a non-linear least-squares fitting procedure. Experimental results for this low-cost measuring system are presented.

Eye in hand robot calibration

Outlines research work to design a robot calibration system which is portable, accurate and low‐cost. Describes prototype measuring system which is based on a camera in the robot hand, plus a known reference object in the robot workspace. Gives details of the measuring procedure, the camera lens, the reference plate and the possible sources of measurement errors. Concludes that this method, based on photogrammetry to obtain measurements for the calibration of robot systems, has been implemented and tested and provides promising results for practical application.

Software architecture and simulation tools for autonomous mobile robots

In the development of software for experimental autonomous robotic vehicles various problems have to be solved.

MODELLING AND SIMULATION OF AN AUTOMATIC DEBITING SYSTEM

This paper describes the modeling and simulation of an automatic debiting system (ADS) for electronic toll collection on highways. A simulation environment (ADSSIM) is described, and an example of a fictious ADS is given which is implemented within the framework of the simulation environment.