{"product_id":"vision-based-in-situ-calibration-of-robots-von-trond-martin-augustson-und-marco-antonio-meggiolaro","title":"VISION BASED IN-SITU CALIBRATION OF ROBOTS","description":"\u003cp\u003eThe majority of today''s industrial robots are  programmed to follow a predefined trajectory.  This  is sufficient when the robot is working in a fixed  environment where all objects of interest are  situated in a predetermined position relative to the  robot base. However, if the robot''s position is  altered, all the trajectories have to be reprogrammed  for the robot to be able to perform its tasks.  The manipulator considered in this thesis is attached  to an ROV (Remote Operating Vehicle). Every time the  robot is repositioned, it needs to estimate its  position and orientation relative to the work  environment. The ROV operates at great depths and  there are few sensors which can operate at extreme  depths. This is the incentive for the use of computer  vision to estimate the relative position of the  manipulator. Through cameras, the position of the  manipulator is estimated. This information is sent to  controllers to correct the pre-programmed  trajectories.  This work includes camera calibration and calibration  of the structure of the manipulator. The increased  accuracies achieved by these steps are merged to  achieve in-situ calibration of the manipulator base.\u003c\/p\u003e\u003cdiv class=\"aw-variant-hidden-subtitle-div\" id=\"aw-variant-subtitle-9783838376455\"\u003e\u003ch3\u003eWITH APPLICATION IN SUBSEA INTERVENTIONS\u003c\/h3\u003e\u003c\/div\u003e","brand":"Autorenwelt Shop","offers":[{"title":"Softcover - 9783838376455","offer_id":39499080859741,"sku":"9783838376455","price":59.0,"currency_code":"EUR","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0940\/0622\/files\/4ad09dc7-ebc2-47dc-bfaa-f361d9ef339a.jpg?v=1770703540","url":"https:\/\/shop.autorenwelt.de\/products\/vision-based-in-situ-calibration-of-robots-von-trond-martin-augustson-und-marco-antonio-meggiolaro","provider":"Autorenwelt Shop","version":"1.0","type":"link"}