Robot Pose Estimation and Normal Trajectory Generation on Curved Surface Using an Enhanced Non-Contact Approach

Syed Humayoon Shah, Chyi Yeu Lin*, Chi Cuong Tran, Anton Royanto Ahmad

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

Abstract

The use of robots for machining operations has become very popular in the last few decades. However, the challenge of the robotic-based machining process, such as surface finishing on curved surfaces, still persists. Prior studies (non-contact- and contact-based) have their own limitations, such as fixture error and surface friction. To cope with these challenges, this study proposes an advanced technique for path correction and normal trajectory generation while tracking a curved workpiece’s surface. Initially, a key-point selection approach is used to estimate a reference workpiece’s coordinates using a depth measuring tool. This approach overcomes the fixture errors and enables the robot to track the desired path, i.e., where the surface normal trajectory is needed. Subsequently, this study employs an attached RGB-D camera on the end-effector of the robot for determining the depth and angle between the robot and the contact surface, which nullifies surface friction issues. The point cloud information of the contact surface is employed by the pose correction algorithm to guarantee the robot’s perpendicularity and constant contact with the surface. The efficiency of the proposed technique is analyzed by carrying out several experimental trials using a 6 DOF robot manipulator. The results reveal a better normal trajectory generation than previous state-of-the-art research, with an average angle and depth error of 1.8 degrees and 0.4 mm.

Original languageEnglish
Article number3816
JournalSensors
Volume23
Issue number8
DOIs
StatePublished - Apr 2023
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2023 by the authors.

Keywords

  • RGB-D camera
  • pose correction
  • robot surface tracking

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering

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