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Automatic Calibration of the Adaptive 3D Scanner-Based Robot Welding System.
1Yaskawa Slovenija, Ribnica, Slovenia.
Frontiers in Robotics and AI
|June 10, 2022
Summary
A new automated robot welding calibration system uses a 3D scanner for precise measurements. This fast, accurate procedure enhances robot maintenance and enables versatile applications in heavy-duty and precision welding.
Area of Science:
- Robotics
- Manufacturing Technology
- Metrology
Background:
- Robot welding systems require precise calibration for accuracy.
- Existing calibration methods can be time-consuming and labor-intensive.
- Adaptive robot welding demands robust and automated calibration solutions.
Purpose of the Study:
- To present an advanced automatic calibration procedure for 3D scanner-based robot welding systems.
- To demonstrate the versatility and efficiency of the developed calibration method.
- To validate the system's accuracy and suitability for industrial applications.
Main Methods:
- Robot welding system calibration using a 3D scanner and a reference plate.
- Numerical optimization of hand-eye and intrinsic parameters via Powell's algorithm.
- Minimizing deviation between measured and reference plate geometry from multiple robot poses.
Main Results:
- Achieved system accuracy better than 0.06 mm perpendicular to the scanning direction.
- Complete automation and fast execution time of approximately 90 seconds.
- Demonstrated successful application in multi-layer heavy-duty pipe welding and precise thin sheet metal laser welding.
Conclusions:
- The automated calibration procedure is accurate, fast, and versatile.
- The system is suitable for daily robot self-maintenance and monitoring.
- The technology supports diverse welding applications, from heavy-duty to precision tasks.
