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Prof. Dr.-Ing. habil. Hermann Lödding
Prof. Dr.-Ing. Wolfgang Hintze
©
PD Dr.-Ing. habil. Jörg Wollnack
path.1 13.04.2014
Robotic II Robotic, Sensors,
Machine Vision
and
System Calibration
Dr.-Ing. habil. Jörg Wollnack
Technical University Hamburg-Harburg
E-Mail: [email protected]
Internet: www.tu-harburg.de/ft2/wo
Prof. Dr.-Ing. habil. Hermann Lödding
Prof. Dr.-Ing. Wolfgang Hintze
©
PD Dr.-Ing. habil. Jörg Wollnack
path.2 13.04.2014
STCP
STCP
SOA
SOB
SG
SO
SA
TR
M
TM
TCP
SM;C0
SC1
TC0
C1
TTCP
A
TR
A
TO
A
SR r
M
i
12
3
Destination
How we get sensor guided and calibrated systems?
Lecture Path I
Prof. Dr.-Ing. habil. Hermann Lödding
Prof. Dr.-Ing. Wolfgang Hintze
©
PD Dr.-Ing. habil. Jörg Wollnack
path.3 13.04.2014
Lecture Path II
Laser-Tracker
3D-Videometrie
kooperierende Multi-Robotersysteme
steiferBauteilbeschlag
elastischerBauteilbeschlag
3D-Messmarke
Montagebauteil
Master-Roboter
Slave-Roboter
Tool-Grabber-Sensor
STCP
SM
SG
SR
Walking-Rivet-Robot
Roboter
Kuka Ahlers
SHW
Machines and Construction
Unit Models Homogeneous Transformations
Pose Expression
Joint Models
Geometrical Models
Vector Maps
Error Types
Error Propagation
Prof. Dr.-Ing. habil. Hermann Lödding
Prof. Dr.-Ing. Wolfgang Hintze
©
PD Dr.-Ing. habil. Jörg Wollnack
path.4 13.04.2014
Model Identification and Calibration Minimizing criterion for Pose
Idea of Newton Method
Rank defects
Hierarchical Calibration
Practical Requirements
Lecture Path III
Kuka Ahlers
SHW
Prof. Dr.-Ing. habil. Hermann Lödding
Prof. Dr.-Ing. Wolfgang Hintze
©
PD Dr.-Ing. habil. Jörg Wollnack
path.5 13.04.2014
+
+
+
blau rot IR
p+
n
n+Metall-kontakt
SiO2Kontakt
optischeVergütung
Raum-ladungs-
zone
Lecture Path IV
Optical Sensors and 3D Video Metric Sensors Geometric Model Video Metric Model
Hole Camera Model Light and Basic Photometric Law
Linear Camera Model Transmission, Reflection and Absorption
Lenz Camera Model
3D Video Metric Sensors
Application Examples
Sensor Calibration
Prof. Dr.-Ing. habil. Hermann Lödding
Prof. Dr.-Ing. Wolfgang Hintze
©
PD Dr.-Ing. habil. Jörg Wollnack
path.6 13.04.2014
Niederdrenk
Lecture Path V
Picture Processing Optical Preprocessing
Lighting Concepts
Histogram
Noise and Quantization
Picture Segmentation
Prof. Dr.-Ing. habil. Hermann Lödding
Prof. Dr.-Ing. Wolfgang Hintze
©
PD Dr.-Ing. habil. Jörg Wollnack
path.7 13.04.2014
Optical Sensors Video Metric Model
Optical System and Fourier-Transform
Video Metric Camera Model
hf
u
SiO2
-
Gate
Bulk
Ausgabe-elektronik
Lecture Path VI
Prof. Dr.-Ing. habil. Hermann Lödding
Prof. Dr.-Ing. Wolfgang Hintze
©
PD Dr.-Ing. habil. Jörg Wollnack
path.8 13.04.2014
Grey Level Image Processing for
Video Metric Position Measurement Segmentation
Threshold Operators
Contour Code
Edge Position Measurement with Sub Pixel Accuracy
Sensor Calibration Results
0
0,5
1
xxK
Lecture Path VII
Prof. Dr.-Ing. habil. Hermann Lödding
Prof. Dr.-Ing. Wolfgang Hintze
©
PD Dr.-Ing. habil. Jörg Wollnack
path.9 13.04.2014
Lecture Path VIII
Sensor Systems in Assembling and Production Processes Problem Definition
Solving the Bootstrapping Problem
Application Examples
Flexible Assembly Cell
Sensor and Robot Calibration
Flexible Wide Body Assembly
CFK Production Cells
Identification Measure to TCP-Frame
3D Camera and Hand Eye Calibration with Calibrated
and Non Calibrated Robots
EADS
