고정밀 로봇을 이용한 2D 비전시스템의 교정

초록

This paper describes the calibration of a 2D vision system utilizing a high-precision robot that moves accurately along the z-axis. To achieve this, a one-axis high-precision robot was designed and manufactured, achieving a minimum travel distance of 0.007 μm during testing. The 2D vision system comprised an RGB camera, an LVDT sensor, and a laser sensor for distance measurement. Additionally, a subpixel-based algorithm was developed for the calibration and size measurement of the system. Following the calibration process with the high-precision robot, the size error was found to be within ±0.1 mm when using the LVDT sensor and ±0.2 mm with the laser sensor. Thus, the 2D vision system and calibration algorithm presented in this paper are deemed suitable for accurate object measurement by robots.

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