Simultaneous Calibration of the Hand-Eye, Flange-Tool and Robot-Robot Relationship in Dual-Robot Collaboration Systems
A multi-robot collaboration system can complete more complex tasks than a single robot system. Ensuring the calibration accuracy between robots in the system is a prerequisite for the effective inter-robot cooperation. This paper presents a dual-robot system for orthopedic surgeries, where the relat...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-02-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/5/1861 |
| _version_ | 1797473795998482432 |
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| author | Yanding Qin Pengxiu Geng Bowen Lv Yiyang Meng Zhichao Song Jianda Han |
| author_facet | Yanding Qin Pengxiu Geng Bowen Lv Yiyang Meng Zhichao Song Jianda Han |
| author_sort | Yanding Qin |
| collection | DOAJ |
| description | A multi-robot collaboration system can complete more complex tasks than a single robot system. Ensuring the calibration accuracy between robots in the system is a prerequisite for the effective inter-robot cooperation. This paper presents a dual-robot system for orthopedic surgeries, where the relationships between hand-eye, flange-tool, and robot-robot need to be calibrated. This calibration problem can be summarized to the solution of the matrix equation of <b>AXB</b>=<b>YCZ</b>. A combined solution is proposed to solve the unknown parameters in the equation of <b>AXB</b>=<b>YCZ</b>, which consists of the dual quaternion closed-form method and the iterative method based on Levenberg–Marquardt (LM) algorithm. The closed-form method is used to quickly obtain the initial value for the iterative method so as to increase the convergence speed and calibration accuracy of the iterative method. Simulation and experimental analyses are carried out to verify the accuracy and effectiveness of the proposed method. |
| first_indexed | 2024-03-09T20:21:31Z |
| format | Article |
| id | doaj.art-9531c58e0229438c97de00c190f9e981 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T20:21:31Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-9531c58e0229438c97de00c190f9e9812023-11-23T23:47:22ZengMDPI AGSensors1424-82202022-02-01225186110.3390/s22051861Simultaneous Calibration of the Hand-Eye, Flange-Tool and Robot-Robot Relationship in Dual-Robot Collaboration SystemsYanding Qin0Pengxiu Geng1Bowen Lv2Yiyang Meng3Zhichao Song4Jianda Han5Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, ChinaTianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, ChinaTianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, ChinaTianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, ChinaTianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, ChinaTianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, ChinaA multi-robot collaboration system can complete more complex tasks than a single robot system. Ensuring the calibration accuracy between robots in the system is a prerequisite for the effective inter-robot cooperation. This paper presents a dual-robot system for orthopedic surgeries, where the relationships between hand-eye, flange-tool, and robot-robot need to be calibrated. This calibration problem can be summarized to the solution of the matrix equation of <b>AXB</b>=<b>YCZ</b>. A combined solution is proposed to solve the unknown parameters in the equation of <b>AXB</b>=<b>YCZ</b>, which consists of the dual quaternion closed-form method and the iterative method based on Levenberg–Marquardt (LM) algorithm. The closed-form method is used to quickly obtain the initial value for the iterative method so as to increase the convergence speed and calibration accuracy of the iterative method. Simulation and experimental analyses are carried out to verify the accuracy and effectiveness of the proposed method.https://www.mdpi.com/1424-8220/22/5/1861robot calibration<b>AXB</b>=<b>YCZ</b>dual quaternionLevenberg–Marquardt algorithm |
| spellingShingle | Yanding Qin Pengxiu Geng Bowen Lv Yiyang Meng Zhichao Song Jianda Han Simultaneous Calibration of the Hand-Eye, Flange-Tool and Robot-Robot Relationship in Dual-Robot Collaboration Systems Sensors robot calibration <b>AXB</b>=<b>YCZ</b> dual quaternion Levenberg–Marquardt algorithm |
| title | Simultaneous Calibration of the Hand-Eye, Flange-Tool and Robot-Robot Relationship in Dual-Robot Collaboration Systems |
| title_full | Simultaneous Calibration of the Hand-Eye, Flange-Tool and Robot-Robot Relationship in Dual-Robot Collaboration Systems |
| title_fullStr | Simultaneous Calibration of the Hand-Eye, Flange-Tool and Robot-Robot Relationship in Dual-Robot Collaboration Systems |
| title_full_unstemmed | Simultaneous Calibration of the Hand-Eye, Flange-Tool and Robot-Robot Relationship in Dual-Robot Collaboration Systems |
| title_short | Simultaneous Calibration of the Hand-Eye, Flange-Tool and Robot-Robot Relationship in Dual-Robot Collaboration Systems |
| title_sort | simultaneous calibration of the hand eye flange tool and robot robot relationship in dual robot collaboration systems |
| topic | robot calibration <b>AXB</b>=<b>YCZ</b> dual quaternion Levenberg–Marquardt algorithm |
| url | https://www.mdpi.com/1424-8220/22/5/1861 |
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