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Sensor Calibration and Registration for Mobile Manipulators

Published

Author(s)

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

Abstract

This paper describes the methods used to register a mobile manipulator to a workstation to perform assembly tasks. The nonlinear, least square model of the system is formulated and Ceres Solver[1] is used to compute the position of the robot arm relative to the mobile base. The use of non-contact fiducials to test the accuracy and repeatability of the mobile manipulator positioning in the context of an assembly operation is also discussed.
Proceedings Title
The Fifth International Conference on Advances in Vehicular Systems, Technologies and Applications (VEHICULAR 2016)
Conference Dates
November 13-17, 2016
Conference Location
Barcelona, ES

Keywords

robot, AGV, mobile manipulator, collaborative robotics, registration, Ceres Solver, calibration

Citation

Legowik, S. , Bostelman, R. and Hong, T. (2016), Sensor Calibration and Registration for Mobile Manipulators, The Fifth International Conference on Advances in Vehicular Systems, Technologies and Applications (VEHICULAR 2016), Barcelona, ES, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=921474 (Accessed April 14, 2024)
Created November 16, 2016, Updated April 6, 2022