Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00351676" target="_blank" >RIV/68407700:21230/22:00351676 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21730/22:00351676

Result on the web

<a href="https://doi.org/10.1016/j.rcim.2021.102250" target="_blank" >https://doi.org/10.1016/j.rcim.2021.102250</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.rcim.2021.102250" target="_blank" >10.1016/j.rcim.2021.102250</a>

Result language

angličtina

Original language name

Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation

Original language description

We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimation of the end effector parameters, joint offsets of the manipulators, and calibration of the complete kinematic chain (DH parameters). The results are compared with ground truth measurements provided by a laser tracker. Our main findings are: (1) When applying the complementary calibration approaches in isolation, the self-contact approach yields the best and most stable results. (2) All combinations of more than one approach were always superior to using any single approach in terms of calibration errors and the observability of the estimated parameters. Combining more approaches delivers robot parameters that better generalize to the workspace parts not used for the calibration. (3) Sequential calibration, i.e. calibrating cameras first and then robot kinematics, is more effective than simultaneous calibration of all parameters. In real experiments, we employ two industrial manipulators mounted on a common base. The manipulators are equipped with force/torque sensors at their wrists, with two cameras attached to the robot base, and with special end effectors with fiducial markers. We collect a new comprehensive dataset for robot kinematic calibration and make it publicly available. The dataset and its analysis provide quantitative and qualitative insights that go beyond the specific manipulators used in this work and apply to self-contained robot kinematic calibration in general.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2022

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Robotics and Computer-Integrated Manufacturing

ISSN

0736-5845

e-ISSN

1879-2537

Volume of the periodical

73

Issue of the periodical within the volume

February

Country of publishing house

IE - IRELAND

Number of pages

21

Pages from-to

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UT code for WoS article

000701935100006

EID of the result in the Scopus database

2-s2.0-85115662346