TY - CONF

T1 - Self-calibration of a mobile manipulator using structured light.

AU - Wieghardt, Christian Sebastian

AU - Wagner, Bernardo

N1 - DBLP's bibliographic metadata records provided through http://dblp.org/search/publ/api are distributed under a Creative Commons CC0 1.0 Universal Public Domain Dedication. Although the bibliographic metadata records are provided consistent with CC0 1.0 Dedication, the content described by the metadata records is not. Content may be subject to copyright, rights of privacy, rights of publicity and other restrictions. Publisher Copyright: © 2017 IEEE. Copyright: Copyright 2017 Elsevier B.V., All rights reserved.

PY - 2017/8/30

Y1 - 2017/8/30

N2 - Rising automation requirements in manufacturing lead to an increasing demand for robot self-calibration. Self-calibration becomes a challenging task for mobile robots since the environment is dynamic, at least from the perspective of moving robots. This paper proposes a new self-calibration method by tracking the end-effector with the help of a head-mounted projector (see Fig. 1). Pseudorandom coded light is projected into the environment and single images are decoded. The pattern consists of checkerboard-like corner-primitives, which are detected by a camera-pair, mounted on the robot base. Triangulation yields the primitives' positions. The projector can be described as an inverse camera model, so its pose is determinable by taking the primitive points as reference. The extrinsic hand-projector and camera-robot transformations are given by the commonly known formula AX = ZB. Further optimization and the incorporation of the joint parameters allow the calibration of the manipulator. Self-calibration means that no sort of calibration object like a checkerboard is needed. Since the decoding is applied to single images, the environment is permitted to change, and the robot is allowed to move around freely during calibration. Experimental results of this method show a submillimeter accuracy of the proposed projector tracking as well as improvements of the robot's accuracy in its typical workspace.

AB - Rising automation requirements in manufacturing lead to an increasing demand for robot self-calibration. Self-calibration becomes a challenging task for mobile robots since the environment is dynamic, at least from the perspective of moving robots. This paper proposes a new self-calibration method by tracking the end-effector with the help of a head-mounted projector (see Fig. 1). Pseudorandom coded light is projected into the environment and single images are decoded. The pattern consists of checkerboard-like corner-primitives, which are detected by a camera-pair, mounted on the robot base. Triangulation yields the primitives' positions. The projector can be described as an inverse camera model, so its pose is determinable by taking the primitive points as reference. The extrinsic hand-projector and camera-robot transformations are given by the commonly known formula AX = ZB. Further optimization and the incorporation of the joint parameters allow the calibration of the manipulator. Self-calibration means that no sort of calibration object like a checkerboard is needed. Since the decoding is applied to single images, the environment is permitted to change, and the robot is allowed to move around freely during calibration. Experimental results of this method show a submillimeter accuracy of the proposed projector tracking as well as improvements of the robot's accuracy in its typical workspace.

KW - End-effector tracking

KW - Manipulator self-calibration

KW - Structured light

UR - http://www.scopus.com/inward/record.url?scp=85031679614&partnerID=8YFLogxK

U2 - 10.1109/icar.2017.8023518

DO - 10.1109/icar.2017.8023518

M3 - Paper

SP - 197

EP - 203

T2 - 2017 18th International Conference on Advanced Robotics (ICAR)

Y2 - 10 July 2017 through 12 July 2017

ER -