A new Software Driven external Sensor System for Industrial Robots
January 1, 2026·,
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Bernd Bertschinger
Kathrin Hoffmann
Jan Baumgärtner
Gajanan Kanagalingam
Jürgen Fleischer
Oliver Sawodny
Stephan Reichelt
Abstract
For decades, laser tracker and total stations have been the state of the art to measure externally the position disturbances in robotic systems. High system costs limit their usage for control systems in common production machines. We present details for an alternative software-driven approach. First, we derive a metrological error model for a new self-referencing, high-precision photogrammetry sensor system. Second, we propose a heuristic software approach, which combines an optical simulation pipeline, with motion planning and camera placement to achieve the best possible accuracy. Finally, we outline the hardware implementation and integration in a closed loop control system.
Type
Publication
Procedia CIRP, 138, 246-251
Authors
Head of Research Industrial Robotics & Scientific Coordinator of CRC 1574
Hi I am Jan! I am a researcher working at the intersection of robotics and manufacturing. My work focuses on intelligent robotic manufacturing systems, where reconfigurable hardware and autonomous reasoning systems meet to enable autonomous and circular production. I also coordinate the Industrial Robotics research at wbk Institute of Production Science, KIT, as well as the Collaborative Research Centre 1574 Circular Factory for the Perpetual Innovative Product.