首页|New Findings on Biomarkers Described by Investigators at Harbin Institute of Tec hnology (Vision-based Autonomous Robots Calibration for Large-size Workspace Usi ng Aruco Map and Single Camera Systems)
New Findings on Biomarkers Described by Investigators at Harbin Institute of Tec hnology (Vision-based Autonomous Robots Calibration for Large-size Workspace Usi ng Aruco Map and Single Camera Systems)
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New research on Diagnostics and Screen ing-Biomarkers is the subject of a report. According to news reporting origina ting in Harbin, People's Republic of China, by NewsRx journalists, research stat ed, "The low positioning accuracy of industrial robots limits their application in industry. Vision-based kinematic calibration, known for its rapid processing and economic efficiency, is an effective solution to enhance this accuracy." Financial supporters for this research include National Natural Science Foundati on of China (NSFC), Fundamental Research Funds for the Central Universities, Pos tdoctoral Fellowship Program of CPSF. The news reporters obtained a quote from the research from the Harbin Institute of Technology, "However, most of these methods are constrained by the camera's f ield of view, limiting their effectiveness in large workspaces. This paper propo ses a novel calibration framework composed of monocular vision and computer visi on techniques using ArUco markers. Firstly, a robot positioning error model was established by considering the kinematic error based on the Modified Denavit-Har tenberg model. Subsequently, a calibrated camera was used to create an ArUco map as an alternative to traditional single calibration targets. The map was constr ucted by stitching images of ArUco markers with unique identifiers, and its accu racy was enhanced through closed-loop detection and global optimization that min imizes reprojection errors. Then, initial hand-eye parameters were determined, f ollowed by acquiring the robot's end-effector pose through the ArUco map. The Le venberg-Marquardt algorithm was employed for calibration, involving iterative re finement of hand-eye and kinematic parameters. Finally, experimental validation was conducted on the KUKA kr500 industrial robot, with laser tracker measurement s as the reference standard."
HarbinPeople's Republic of ChinaAsiaAutonomous RobotBiomarkersDiagnostics and ScreeningEmerging TechnologiesHealth and MedicineMachine LearningNano-robotRobotRoboticsHarbin Ins titute of Technology
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