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Selfie Aligner Paper: | |||
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Peer reviewed article on the Selfie Aligner have now been published.
Together with Aalborg University a paper has been published. This paper describe the theoretical background for the technology that makes the high accuracy of the Selfie Aligner possible. As a follow-up to the article, you can below find more information about the project as well as some videos from the tests and experiments described in the article An appendix with more information about the statistics was not published in the paper, but it can be found here (pdf). If you have questions or remarks to this paper, please comment on LinkedIN or send me an e-mail. |
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Get the Paper: |
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The paper have been published in “Industrial Robot” by Emeral Publishing. (open access, no pay wall) Go to Emerald Insight and make a free account (Register): Input my name (Henning Forbech) in the search field The article should show up at the top: “High-precision mobile robot calibration using self-reflective visual servoing” Press “PDF” to see your copy of the article This direct link will give you a summary. Here you can access to the article via your institution. Google Scholar: Search for “Henning Forbech” If you are lazy, email me for a copy :-) |
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Videos: | ||||
| Wax Test: The Wax Test with a 1-meter-long bar. It starts with an introduction that explains the technology. Followed by three rounds off alignment and stamping on the wax block. Short version of the same video video but only with the wax stamping. |
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| Transistor Test: To demonstrate the high accuracy of the Selfie Aligner, we did a small demonstration where a transistor was placed in a PCB at a fixed workstation from a mobile manipulator. Only the high accuracy of the Selfie Aligner has made this delicate operation possible. This long video shows the full process with no cuts. |
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| Repeatebility Test:
The Selfie Aligner was tested on a UR5 robot at Smart Lab at Aalborg University Video from the test used for the statistics on repeatability. Results from the test in the article. More results and graphs in this document. |
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| ARM Stabilitet: How stabel is the MiR platform? The article mentions that the stability of the mobile platform can be a challenge for mobile manipulators. To gain a better understanding of this issue, Selfie Aligner was used to measure the stability of a MiR-200 platform. More info in this document: pdf |
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| Dust Demo: How stabel is the Selfie Aligner to dust and dirt on the calibration tag? We made a small test with contermination of the Selfie Aligner tag. Obs: no sound |
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Collaboration with Aalborg University: | |||
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Aalborg University Department of Materials and Production was a big help in the development of the Selfie Aligner. The test on the Selfie Aligner was done at Smart Lab AAU Kommunikation and Public Affairs wrote an article on the project (Danish version) The article was published 26/11 2025 by Aalborg University. Inventor, Henning Forbech Associate Professor, Dimitris Chrysostomou Associate Professor, Casper Schou |
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Information on the Selfie Aligner: | ||||
| Presentation: |
General information on the system for calibrating a mobile robot to a workplace with extreme high precision | |||
| How it Works: |
Introduction to how the Selfie Aligner works | |||
| FAQ: |
Answers to the most Frequently Asked Questions | |||
| Business Case: |
How to improve your business by using the Selfie Aligner | |||
| Odd-Size Components: |
Mounting odd-size components are now possible with mobile robots | |||
| Machin Tending: |
Machine Tending with mobile robots made possible with the Selfie Aligner | |||
| Repeatability Short version: |
Short summary on the test of the repeatability for the Selfie Aligner | |||
| Repeatability Full version: |
Full report on the measurement of repeatability for the Selfie Aligner. One Meter Wax Test, Stability of ARM platform and more | |||
| Patent: |
Intellectual property for the Selfie Aligner is protected by patent | |||
| Last update: 28/5 2026 | Cookie Free | Follow us on LinkedIN | © 2024 Copyright by 4TECH Robotics ApS. All Rights Reserved |