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Stereo vision based autonomous robot calibration

文献类型：期刊论文

作者Zhang, Xuanchen1,2; Song, Yuntao1,2; Yang, Yang1; Pan, Hongtao1,2
刊名ROBOTICS AND AUTONOMOUS SYSTEMS
出版日期2017-07-01
卷号93页码:43-51
关键词Autonomous Calibration Kinematic Calibration Stereo Vision Local Poe
DOI10.1016/j.robot.2017.04.001
文献子类Article
英文摘要Robot calibration has been demonstrated to be a useful method to decrease the absolute positioning errors of a robot. Compared to the traditional calibration methods which require expensive external measurement devices, this paper proposes a stereo vision based self-calibration procedure which only needs a stereo camera mounted to a fixed location and a planar marker attached to the robot end-effector. The procedure consists of three consecutive steps: the automatic generation of target configurations and trajectories based on the nominal geometric models of the robot; a camera and obstacles, marker poses estimated by the two stage estimation algorithm; and the kinematic parameters identification based on a local product of exponential (local POE) formulized error model. The advantage of this self-calibration method is that the whole robot camera system can be calibrated without any manual intervention, which enables robot calibration to be completely online and suitable for the fast programming of the robot and computer vision combined work cell. A set of simulations and experiments on a UR5 robot demonstrate the convenience, efficiency and robustness of the proposed calibration procedure. (C) 2017 Elsevier B.V. All rights reserved.
WOS关键词KINEMATIC CALIBRATION ; SELF-CALIBRATION ; EXPONENTIALS FORMULA ; STEWART PLATFORMS ; PARALLEL ROBOTS ; MANIPULATORS ; IDENTIFICATION ; ORIENTATION ; PRODUCT ; CAMERA
WOS研究方向Automation & Control Systems ; Computer Science ; Robotics
语种英语
WOS记录号WOS:000403027600004
资助机构China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004)
源URL[http://ir.hfcas.ac.cn:8080/handle/334002/33441]  
专题合肥物质科学研究院_中科院等离子体物理研究所
作者单位1.Chinese Acad Sci, Inst Plasma Phys, 350 Shushanhu Rd, Hefei, Anhui, Peoples R China
2.Univ Sci & Technol China, Hefei 230022, Anhui, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Xuanchen,Song, Yuntao,Yang, Yang,et al. Stereo vision based autonomous robot calibration[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2017,93:43-51.
APA Zhang, Xuanchen,Song, Yuntao,Yang, Yang,&Pan, Hongtao.(2017).Stereo vision based autonomous robot calibration.ROBOTICS AND AUTONOMOUS SYSTEMS,93,43-51.
MLA Zhang, Xuanchen,et al."Stereo vision based autonomous robot calibration".ROBOTICS AND AUTONOMOUS SYSTEMS 93(2017):43-51.

入库方式： OAI收割

来源：合肥物质科学研究院

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