Stereovision system for motion tracking and position error compensation of loading crane

Modern vision systems allow to precise and fast spatial measurements. The high resolution cameras are commonly used in 3D scanners or real-time systems for manufacturing inspection. There exist also integrated tracking systems equipped with cameras, usually based on single fully controlled gimbal he...

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Bibliographic Details
Main Authors: Pajor, Mirosław, Grudziński, Marek, Marchewka, Łukasz
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Coders
End effectors
Error compensation
Inspection
Kinematics
Position measurement
Scanners
Tracking systems
Vision systems
Citations: Items that cite this one
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Summary:Modern vision systems allow to precise and fast spatial measurements. The high resolution cameras are commonly used in 3D scanners or real-time systems for manufacturing inspection. There exist also integrated tracking systems equipped with cameras, usually based on single fully controlled gimbal head and allow only for angular measurements. Despite the fact that laser trackers or TOF cameras could measure 3D coordinates using single sensor, they have significant limitations. In this paper a vision system for tracking the end effector of loading crane will be presented. The system based on two controlled independent gimbal heads and allows to observe a group of markers mounted at the effector. The measurements can be performed based on encoders feedback and marker position on images. The complex calibration procedure for gimbal kinematics and camera positions will be explained. The tests results, application the system for crane controlling and its limitation will be discussed.
ISSN:0094-243X
1551-7616
DOI:10.1063/1.5066512