Change search
Link to record
Permanent link

Direct link
BETA
Eriksson, Kenneth
Publications (5 of 5) Show all publications
Ryberg, A., Ericsson, M., Christiansson, A.-K., Eriksson, K., Nilsson, J. & Larsson, M. (2010). Stereo vision for path correction in off-line programmed robot welding. In: Proceedings of the IEEE International Conference on Industrial Technology: . Paper presented at IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 (pp. 1700-1705).
Open this publication in new window or tab >>Stereo vision for path correction in off-line programmed robot welding
Show others...
2010 (English)In: Proceedings of the IEEE International Conference on Industrial Technology, 2010, p. 1700-1705Conference paper, Published paper (Refereed)
Abstract [en]

The paper describes a versatile machine vision system for correcting off-line programmed nominal robot trajectories for advanced welding. Weld trajectory corrections are needed due to slight variations in weld joints. Such variations occur naturally because of varying tolerances in parts and to heat induced deformations during earlier weld sequences. The developed system uses one camera and a weld tool mounted on the robot hand. As a first step, the whole system, including the camera, is calibrated. Then the system takes images of the weld joint from different positions and orientations, and determines the weld joint geometry in 3D using a stereo vision algorithm and a novel camera model. The weld trajectory is then updated in the robot control system, and weld operation is performed. These steps are repeated for all weld sequences of the work piece. The strategy has successfully been demonstrated for a standard industrial welding robot and a standard FireWire CMOS camera. The maximum deviation of the trajectory found by the system compared to a reference (coordinate measuring machine) is 0.7 mm and the mean deviation is 0.23 mm. Thus, the system shows high potential for industrial implementation. ©2010 IEEE.

Keywords
Camera model; CMOS camera; Firewires; Heat-induced deformation; High potential; Industrial implementation; Machine vision systems; Mean deviation; One camera; Robot control systems; Robot hand; Robot trajectory; Robot welding; Stereo vision algorithms; System use; Trajectory correction; Weld joints; Welding robots; Whole systems; Work pieces
National Category
Other Engineering and Technologies not elsewhere specified
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
urn:nbn:se:hv:diva-2637 (URN)10.1109/ICIT.2010.5472442 (DOI)
Conference
IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
Available from: 2010-08-31 Created: 2010-08-31 Last updated: 2020-04-06Bibliographically approved
Lindström, D. & Eriksson, K. (2008). A surrogate model based global optimization method. In: 38th International Conference on Computers and Industrial Engineering 2008: . Paper presented at 38th International Conference on Computers and Industrial Engineering 2008; Beijing; China; 31 October 2008 through 2 November 2008; Code 101000 (pp. 226-232).
Open this publication in new window or tab >>A surrogate model based global optimization method
2008 (English)In: 38th International Conference on Computers and Industrial Engineering 2008, 2008, p. 226-232Conference paper, Published paper (Refereed)
Abstract [en]

A new surrogate model based algorithm for global optimization is derived. A metamodel such as a kriging model or a radial basis function model is used to build an interpolant of the objective function. Evaluation points are chosen in such a way that local search and global exploration is balanced. Instead of putting the next point exactly where it is most likely to find the global optimum, the new method also prepares for steps to come by minimizing the total uncertainty of the interpolated function within the most interesting areas of the search space.

Keywords
Kriging, Meta mode, ; Response surface, Sampling strategies, Surrogate model
National Category
Computational Mathematics
Research subject
ENGINEERING, Mathematics
Identifiers
urn:nbn:se:hv:diva-10004 (URN)
Conference
38th International Conference on Computers and Industrial Engineering 2008; Beijing; China; 31 October 2008 through 2 November 2008; Code 101000
Available from: 2016-10-17 Created: 2016-10-17 Last updated: 2018-07-25Bibliographically approved
Ryberg, A., Christiansson, A.-K., Lennartson, B. & Eriksson, K. (2008). Camera Modelling and Calibration - with Applications. In: Zhihui, X. (Ed.), Computer Vision: (pp. 303-332). Vienna: I-Tech Education and Publishing
Open this publication in new window or tab >>Camera Modelling and Calibration - with Applications
2008 (English)In: Computer Vision / [ed] Zhihui, X., Vienna: I-Tech Education and Publishing , 2008, p. 303-332Chapter in book (Other academic)
Place, publisher, year, edition, pages
Vienna: I-Tech Education and Publishing, 2008
National Category
Computer Vision and Robotics (Autonomous Systems) Signal Processing Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
urn:nbn:se:hv:diva-2381 (URN)
Available from: 2010-04-23 Created: 2010-04-23 Last updated: 2020-04-06Bibliographically approved
Ryberg, A., Christiansson, A.-K. & Eriksson, K. (2006). Accuracy Investigation of a Vision Based System for Pose Measurements. In: Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on: . Paper presented at ICARCV'06 (pp. 1-6).
Open this publication in new window or tab >>Accuracy Investigation of a Vision Based System for Pose Measurements
2006 (English)In: Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on, 2006, p. 1-6Conference paper, Published paper (Other academic)
Abstract [en]

The accuracy of a pose measurement system, called PosEye, is investigated. PosEye is a system for real time measurement of the position and orientation, the pose, of a camera (sensor) using the information in its image. This sensor is aimed to be mounted on an industrial robot for welding. The investigation was done by comparing the PosEye system position output to that of a coordinate measuring machine. Sources of errors are identified, and suggestions for improvements are made

Keywords
industrial robots, photogrammetry, pose estimation, position measurement, robot vision, welding, PosEye system, industrial robot, photogrammetry, pose measurement, position accuracy, position measurement, position sensor, real time measurement, robot vision, vision based system, welding, 6 DOF, photogrammetry, position accuracy, position sensor, robot vision
National Category
Control Engineering
Research subject
ENGINEERING, Mechatronics; ENGINEERING, Mathematics
Identifiers
urn:nbn:se:hv:diva-1792 (URN)10.1109/ICARCV.2006.345204 (DOI)1-4244-0341-3 (ISBN)
Conference
ICARCV'06
Available from: 2009-10-07 Created: 2009-10-06 Last updated: 2020-04-06Bibliographically approved
Edstorp, M. & Eriksson, K. (2005). Modelling and Simulation of Moving Boundaries and Convective Heat Transfer in Non-Autogenous Fusion Weld Pools using FEMLAB 3.1. In: Proceedings of the FEMLAB CONFERENCE 2005: (pp. 85-90).
Open this publication in new window or tab >>Modelling and Simulation of Moving Boundaries and Convective Heat Transfer in Non-Autogenous Fusion Weld Pools using FEMLAB 3.1
2005 (English)In: Proceedings of the FEMLAB CONFERENCE 2005, 2005, p. 85-90Conference paper, Published paper (Other academic)
National Category
Other Engineering and Technologies not elsewhere specified
Research subject
ENGINEERING, Manufacturing and materials engineering
Identifiers
urn:nbn:se:hv:diva-2392 (URN)
Available from: 2010-04-28 Created: 2010-04-28 Last updated: 2018-07-25Bibliographically approved
Organisations

Search in DiVA

Show all publications