University of Twente Student Theses
Camera to Robot Arm End-Effector Calibration
Wershoven, Teun van (2024) Camera to Robot Arm End-Effector Calibration.
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| Abstract: | Robots are fulfilling more and more jobs in current society, and for a robot arm to be able to know what it is going to do it needs to know how the end-effector needs to move in relation to what it sees on the cameras. For a robot to know where their end-effector needs to move it needs to be calibrated to a camera feed. Therefore this study calibrated a Franka Research 3 robot arm to a Stereolabs ZED 2 stereo camera. This calibration had errors of up to three meters when the camera was attached in the world frame, while attaching the camera to the end-effector reduced this error to a maximum of half a meter. A likely cause for this is that the used program for calibration does not account for the possibility of the camera being attached in the world frame. This is supported by that in the documentation only the camera being attached to the end-effector is shown.[1] This error is further magnified by the addition of noise to the rotational vector of the camera pose transformation added after the measurement, or by removing the end of datasets. |
| Item Type: | Essay (Bachelor) |
| Faculty: | ET: Engineering Technology |
| Subject: | 54 computer science |
| Programme: | Biomedical Technology BSc (56226) |
| Link to this item: | https://purl.utwente.nl/essays/103684 |
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