Calibration of mobile manipulators using 2D positional features

Published

April 24, 2018

Author(s)

Mili Shah, Roger V. Bostelman, Steven Legowik, Tsai H. Hong

Abstract

Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the effi-ciency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator and the AGV is often unknown. This paper provides a novel, simple, and low-cost method for calibrating and measuring the performance of mobile manipulators by using data collected from a laser retroreflector that digitally detects the horizontal two-dimensional (2D) position of reflectors on an artifact as well as a navigation system that provides the heading angle and 2D position of the AGV. The method is mathematically presented by providing a closed form solution to the positional component of the 2D robot- world/hand-eye calibration problem AX = YB. The method is then applied to simulated data as well as data collected in a laboratory setting and compared to other methods.

Citation

Measurement: Journal of the International Measurement Confederation (IMEKO)

Pub Type

Journals

Download Paper

https://doi.org/10.1016/j.measurement.2018.04.024

Local Download

Keywords

robot-world/hand-eye calibration, sensor calibration, registration, pose, closed form solution

Citation

Shah, M. , Bostelman, R. , Legowik, S. and Hong, T. (2018), Calibration of mobile manipulators using 2D positional features, Measurement: Journal of the International Measurement Confederation (IMEKO), [online], https://doi.org/10.1016/j.measurement.2018.04.024, https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=923454 (Accessed April 19, 2024)