On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy
Autonomous industrial mobile manipulator (AIMM), which is composed of a mobile platform and a robot arm of six degrees of freedom (DoFs), can move autonomously and perform dexterous tasks independently in the industrial environment. A novel on-line calibration system for AIMM in real manufacturing w...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9330517/ |
| _version_ | 1818664394134913024 |
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| author | Sheng Jian Xiansheng Yang Xianwei Yuan Yunjiang Lou Yao Jiang Genliang Chen Guoyuan Liang |
| author_facet | Sheng Jian Xiansheng Yang Xianwei Yuan Yunjiang Lou Yao Jiang Genliang Chen Guoyuan Liang |
| author_sort | Sheng Jian |
| collection | DOAJ |
| description | Autonomous industrial mobile manipulator (AIMM), which is composed of a mobile platform and a robot arm of six degrees of freedom (DoFs), can move autonomously and perform dexterous tasks independently in the industrial environment. A novel on-line calibration system for AIMM in real manufacturing workshop is proposed in this paper. Compared to calibration scenarios of fixed-base robot, we focus on the large-space autonomous calibration for AIMM. To cope with the issue of high precision calibration in large space, we propose a multi-level guided-based measurement strategy, which includes the low-cost vision positioning and guidance system, and the high-precision distributed base station (BS) measurement system. The corresponding experiment proves that the total uncertainty of measurement system is less than 0.1 mm. Based on the measured data of end-effector installed at the end of robot arm, the AIMM can perform on-line calibration tasks anywhere automatically without taking into account the expensive devices for the high-precision location of mobile platform and the downtime for the robotic off-line calibration. The mean positioning error of AIMM after calibration reduces 93% based on the calibration experiment. |
| first_indexed | 2024-12-17T05:32:02Z |
| format | Article |
| id | doaj.art-1f26a98dcb364b54803d71fc92da182f |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-17T05:32:02Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-1f26a98dcb364b54803d71fc92da182f2022-12-21T22:01:42ZengIEEEIEEE Access2169-35362021-01-019171611717310.1109/ACCESS.2021.30533569330517On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement StrategySheng Jian0https://orcid.org/0000-0003-1078-5000Xiansheng Yang1https://orcid.org/0000-0002-7123-6745Xianwei Yuan2Yunjiang Lou3https://orcid.org/0000-0001-8203-7795Yao Jiang4Genliang Chen5https://orcid.org/0000-0002-1011-2116Guoyuan Liang6https://orcid.org/0000-0002-5207-6969School of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, ChinaSchool of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, ChinaSchool of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, ChinaSchool of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, ChinaDepartment of Mechanical Engineering, Institute of Manufacturing Engineering, Tsinghua University, Beijing, ChinaState Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, ChinaCenter for Intelligent and Biomimetic Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, ChinaAutonomous industrial mobile manipulator (AIMM), which is composed of a mobile platform and a robot arm of six degrees of freedom (DoFs), can move autonomously and perform dexterous tasks independently in the industrial environment. A novel on-line calibration system for AIMM in real manufacturing workshop is proposed in this paper. Compared to calibration scenarios of fixed-base robot, we focus on the large-space autonomous calibration for AIMM. To cope with the issue of high precision calibration in large space, we propose a multi-level guided-based measurement strategy, which includes the low-cost vision positioning and guidance system, and the high-precision distributed base station (BS) measurement system. The corresponding experiment proves that the total uncertainty of measurement system is less than 0.1 mm. Based on the measured data of end-effector installed at the end of robot arm, the AIMM can perform on-line calibration tasks anywhere automatically without taking into account the expensive devices for the high-precision location of mobile platform and the downtime for the robotic off-line calibration. The mean positioning error of AIMM after calibration reduces 93% based on the calibration experiment.https://ieeexplore.ieee.org/document/9330517/On-line robot calibrationbase stationmulti-level measurement strategy |
| spellingShingle | Sheng Jian Xiansheng Yang Xianwei Yuan Yunjiang Lou Yao Jiang Genliang Chen Guoyuan Liang On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy IEEE Access On-line robot calibration base station multi-level measurement strategy |
| title | On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy |
| title_full | On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy |
| title_fullStr | On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy |
| title_full_unstemmed | On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy |
| title_short | On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy |
| title_sort | on line precision calibration of mobile manipulators based on the multi level measurement strategy |
| topic | On-line robot calibration base station multi-level measurement strategy |
| url | https://ieeexplore.ieee.org/document/9330517/ |
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