Calibração Single Plane Hand-Eye de Perfilômetro 2D para um Sistema Robótico de Manufatura Aditiva

Gilmar P. Cruz Júnior; Nicolas Lizarralde; Fernando Coutinho; Gustavo M. Freitas; Fernando Lizarralde

doi:10.20906/CBA2022/3345

Gilmar P. Cruz Júnior Programa de Pós-Graduação em Engenharia Elétrica - Universidade Federal de Minas Gerais - Av. Antônio Carlos 6627, 31270-901, Belo Horizonte, MG
Nicolas Lizarralde Programa de Engenharia Elétrica - COPPE - Universidade Federal do Rio de Janeiro, RJ
Fernando Coutinho Programa de Engenharia Elétrica - COPPE - Universidade Federal do Rio de Janeiro, RJ
Gustavo M. Freitas Programa de Pós-Graduação em Engenharia Elétrica - Universidade Federal de Minas Gerais - Av. Antônio Carlos 6627, 31270-901, Belo Horizonte, MG
Fernando Lizarralde Programa de Engenharia Elétrica - COPPE - Universidade Federal do Rio de Janeiro, RJ

DOI: https://doi.org/10.20906/CBA2022/3345

Keywords: Hand-Eye Calibration, Profilemeter, Additive Manufacturing, Robotic Manipulators, WAAM Processes

Abstract

This paper presents a method of calibration of a 2D laser sensor (Profilometer) used in a robotic system of Additive Manufacturing. The proposed iterative method is based on Hand-Eye calibration and uses only information from data obtained with a single plane, without information of the plane localization. The calibration of the location of the profilometer with respect to the manipulator end-effector to which it is coupled is essential to extract geometric characteristics from parts manufactured by Additive Manufacturing. Simulations and experiments in a robotic Additive Manufacturing system show the effectiveness of the proposed method to determine the sensor pose with respect to the end-effector coordinate system.