Подробное описание документа

Gudym A. V., Sokolov A. P.
   Precise Robotic Arms with Computer Vision Guidance / Gudym A. V., Sokolov A. P. // Наука, технологии и бизнес : материалы 6-ой Межвузовской конференции аспирантов, соискателей и молодых учёных, Москва, 16-18 апреля 2024 года / МГТУ им. Н. Э. Баумана (национальный исследовательский университет). - М., 2024. - С. 124-127.

Modern manufacturing technologies heavily rely on robotics, especially multi-link robotic arms or manipulators. Huge amount of tasks results in a large diversity of manipulator models. High-cost professional arms often give very high repeatability of tool or parts positioning tasks, yet they often lack accuracy (e.g. 0.1mm repeatability vs 1mm position accuracy). Such drastic difference restricts application of robots and increases overall costs. Authors suggest an efficient approach of real time tracking system for robot links and attached tools with the means of computer vision algorithms to address low accuracy problem.
Keywords: robotic arm, kinematics, computer vision, photogrammetry, non-linear optimization