TY - GEN
T1 - Robot task space analyzer system calibration
AU - Nycz, Andrzej
AU - Chidambaram, Prem S.
AU - Zhou, Renbin
AU - Hamel, William R.
PY - 2006
Y1 - 2006
N2 - Sensors such as cameras and range finders provide flexibility and safety to telerobotic manipulations. However, in order to use their supportive features, sensor-based telerobotic control requires that both the sensors and the robot arm be calibrated so that the manipulator can target and articulate objects in the environment easily and effectively. The scope of this paper is to define the sensor-manipulator calibration issue, outline the system errors, describe the calibration methods, and explain the algorithms necessary to provide compensation. The system includes a 6 degree-of-freedom (DOF) Titan II robotic arm and an independent 2 DOF sensor head equipped with a laser range finder and a stereo camera. The camera provides the view of the workspace scene, while the laser grants accurate knowledge of the distance to the object; together they allow the user to create and use a three-dimensional model of the environment and the robot with the possibility of performing automated tasks. It is extremely important to know the exact position and orientation of the sensor head and its elements in the adopted world coordinate frame. The problem is divided into four steps: examination of potential solutions, acquisition of calibration data of the sensor and the arm, numerical analysis and determination of needed parameters, and validation of obtained results. Since the task is to find parameters that represent the object position accurately, the problem is treated as multidimensional least squares optimization problem with simple bounds. The function to minimize is the distance between the target and its calculated position. Two approaches are applied to represent kinematics parameters: Euler angles and quaternions. Solutions are analyzed to determine the best method for future planned online calibration checks as well as to perform teleoperation tasks on the calibrated system.
AB - Sensors such as cameras and range finders provide flexibility and safety to telerobotic manipulations. However, in order to use their supportive features, sensor-based telerobotic control requires that both the sensors and the robot arm be calibrated so that the manipulator can target and articulate objects in the environment easily and effectively. The scope of this paper is to define the sensor-manipulator calibration issue, outline the system errors, describe the calibration methods, and explain the algorithms necessary to provide compensation. The system includes a 6 degree-of-freedom (DOF) Titan II robotic arm and an independent 2 DOF sensor head equipped with a laser range finder and a stereo camera. The camera provides the view of the workspace scene, while the laser grants accurate knowledge of the distance to the object; together they allow the user to create and use a three-dimensional model of the environment and the robot with the possibility of performing automated tasks. It is extremely important to know the exact position and orientation of the sensor head and its elements in the adopted world coordinate frame. The problem is divided into four steps: examination of potential solutions, acquisition of calibration data of the sensor and the arm, numerical analysis and determination of needed parameters, and validation of obtained results. Since the task is to find parameters that represent the object position accurately, the problem is treated as multidimensional least squares optimization problem with simple bounds. The function to minimize is the distance between the target and its calculated position. Two approaches are applied to represent kinematics parameters: Euler angles and quaternions. Solutions are analyzed to determine the best method for future planned online calibration checks as well as to perform teleoperation tasks on the calibrated system.
UR - http://www.scopus.com/inward/record.url?scp=33846038254&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:33846038254
SN - 0894486926
SN - 9780894486920
T3 - 1st Joint Emergency Preparedness and Response/Robotic and Remote Systems Topical Meeting
SP - 530
EP - 537
BT - 1st Joint Emergency Preparedness and Response/Robotic and Remote Systems Topical Meeting
T2 - 1st Joint Emergency Preparedness and Response/Robotic and Remote Systems Topical Meeting
Y2 - 11 February 2006 through 16 February 2006
ER -