Absolute accuracy of 6-axis industrial robots

Motivation

The goal of this research project in neutron diffractometry is the realization of the automated sample positioning in the focus point of the neutron source with a classical 6-axis industrial robot. To achieve the necessary absolute accuracy of 50 μm, a measuring and control system is developed, that enables a high-precision position measurement of the sample, which is mounted to the robot, in the complete workspace, to compensate deviations from the target position. Additionally, within the framework of this project, the automated generation of a measuring program based on the sample geometry is explored and developed. In addition, a collision avoidance system is integrated for the robot.

Compared to the state of the art, the aimed results of this project allow a substitution of the currently deployed expensive special kinematics, a higher degree of freedom of the sample positioning and the automatic generation and execution of measurement programs.

Topics 

  • Visual servoing
  • 6D pose estimation
  • Image registration
  • Subpixel algorithms

Skills 

  • Python skills are preferable
  • Computer vision skills are preferable
  • Deep learning skills are preferable
  • ROS skills are advantageous
  • C++ skills are advantageous

Categories:

Research Sector:

Biomechatronics

Type of thesis:

Bachelor Thesis, Master Thesis, Project Thesis, Seminar Thesis

Major:

Informatics, Engineering, Mechatronics, Medical engineering

Major:

Artificial Intelligence and Machine Learning, Medical engineering

Contact: