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

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/22:00351676

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

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

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2022

Kód důvěrnosti údajů

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

Název periodika

Robotics and Computer-Integrated Manufacturing

ISSN

0736-5845

e-ISSN

1879-2537

Svazek periodika

73

Číslo periodika v rámci svazku

February

Stát vydavatele periodika

IE - Irsko

Počet stran výsledku

21

Strana od-do

—

Kód UT WoS článku

000701935100006

EID výsledku v databázi Scopus

2-s2.0-85115662346