A Method for Determining Local Coordinate Frames Attached to Objects by a Laser Profile Sensor in Industrial Robot Workspaces

TURGUT K., DUTAĞACI H., Soyleyici C., SEÇİL S., ÖZKAN M., PARLAKTUNA O., ...More

17th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Coimbra, Portugal, 26 - 28 April 2017, pp.260-265 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/icarsc.2017.7964085
  • City: Coimbra
  • Country: Portugal
  • Page Numbers: pp.260-265
  • Keywords: coordinate measurement, industrial robot, robot calibration
  • Eskisehir Osmangazi University Affiliated: Yes

Abstract

This paper presents a new method for determining the local coordinate frame attached to objects in the workspace of an industrial robot. The method uses a pre-defined pattern and a laser profile sensor mounted on the tip of an industrial robot. The measurements obtained by the laser sensor are analyzed to infer the geometrical features of the pattern, and then to determine the local coordinate system on the pattern with respect to the robot's base coordinate frame. The results of our experiments demonstrate the effectiveness of the method.