@inproceedings{8ae26b7080b141ceb9f99ec3381d358f,
title = "Repeatability measurement and kinematic identification of LBR iiwa 7 R800 using monocular camera",
abstract = "In this paper, we have performed the kinematic identification and repeatability analysis of LBR iiwa 7 R800 (7 axis serial link robot) using monocular camera mounted at the end-effector of the robot. We started the process with the camera calibration process to identify intrinsic and extrinsic parameters of the camera used. In order to determine the pose of the end-effector using camera for repeatability analysis, we have used a 9x6 checkerboard for the repeatability experiment and for kinematic identification we have used ArUco markers. For repeatability analysis, we have used poses from ISO 9283 standards. Also we have used dispersion as a statistical means for quantifying the repeatability analysis. Subsequently, we have compared the results of kinematic identification with those from laser sensors and the theoretical CAD data sheet provided for the robot. Also in this paper, the algorithm has been introduced for measuring repeatability under force control mode and consequently, a single point repeatabilty has been evaluated.",
keywords = "Camera, Industrial robot, Kinematic Identification, Repeatability",
author = "Aditya Jain and Hardeep Singh and Boby, \{Riby Abraham\} and Saha, \{Subir Kumar\} and Swagat Kumar and Roy, \{Sumantra Dutta\}",
year = "2019",
month = jul,
day = "2",
doi = "10.1145/3352593.3352617",
language = "English",
series = "ACM International Conference Proceeding Series",
publisher = "Association for Computing Machinery",
pages = "1--6",
booktitle = "Proceedings of the Advances in Robotics 2019, AIR 2019",
address = "United States",
note = "2019 Conference on Advances in Robotics, AIR 2019 ; Conference date: 02-07-2019 Through 06-07-2019",
}