The main purpose of this thesis is to study a method for finding the geometric relationship between the TCP (tool center point) of a tool attached to the robot flange (the last axis) and the robot itself using a camera. From a theoretical point of view the TCP computed is not an approximation. The proposed method computes the TCP performing two rotations from the initial flange pose around two different rotation axis. There is no constraints about the rotation angle
An Autonomous System for the Evaluation of a Robot Tool Center Point using Computer Vision
Toffano, Federico
2015/2016
Abstract
The main purpose of this thesis is to study a method for finding the geometric relationship between the TCP (tool center point) of a tool attached to the robot flange (the last axis) and the robot itself using a camera. From a theoretical point of view the TCP computed is not an approximation. The proposed method computes the TCP performing two rotations from the initial flange pose around two different rotation axis. There is no constraints about the rotation angleFile in questo prodotto:
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Utilizza questo identificativo per citare o creare un link a questo documento:
https://hdl.handle.net/20.500.12608/19606