Leveling error is critical for final alignment accuracy in accurate assembly tasks, which needs to be sensed and further compensated. In this paper, we propose an easy and cost-saving leveling measurement method. The parameter sensitivity is studied, and the leveling compensation approach in robotic systems is stated. We conduct experiments to examine its accuracy performance, and show its effectiveness in a demonstration assembly case.

Robot kinematics, Cameras, Pallets, Robot sensing systems, Mirrors, Optical interferometry

C. Li, H. Gu, "A leveling measurement method and its application in robotic systems," in Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau, Macao, Dec 05–08, 2017, pp. 1844–1849.

@INPROCEEDINGS{8324687,
author={Li, Cheng and Gu, Hao},
booktitle={2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
title={A leveling measurement method and its application in robotic systems},
year={2017},
volume={},
number={},
pages={1844-1849},
keywords={Robot kinematics;Cameras;Pallets;Robot sensing systems;Mirrors;Optical interferometry;leveling measurement;robotic system;accurate assembly},
doi={10.1109/ROBIO.2017.8324687}
}