SCALAR - simultaneous calibration of 2D laser and robot's kinematic parameters using three planar constraints
Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However, the existing calibration approaches are either to...
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| Format: | Conference Paper |
| Language: | English |
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2020
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| Online Access: | https://hdl.handle.net/10356/145341 |
| _version_ | 1826112780088901632 |
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| author | Lembono, Teguh Santoso Suarez-Ruiz, Francisco Pham, Quang-Cuong |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Lembono, Teguh Santoso Suarez-Ruiz, Francisco Pham, Quang-Cuong |
| author_sort | Lembono, Teguh Santoso |
| collection | NTU |
| description | Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However, the existing calibration approaches are either too cumbersome or require another expensive external measurement system such as laser tracker or measurement spinarm. In this paper, we propose SCALAR, a calibration method to simultaneously improve the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder (LRF) that is attached to the robot. Three flat planes are placed around the robot, and for each plane the robot moves to several poses such that the LRF's ray intersect the respective plane. Geometric planar constraints are then used to optimize the calibration parameters using Levenberg-Marquardt nonlinear optimization algorithm. We demonstrate through simulations that SCALAR can reduce the average position and orientation errors of the robot system from 14.6 mm and 4.05° to 0.09 mm and 0.02°. |
| first_indexed | 2024-10-01T03:12:43Z |
| format | Conference Paper |
| id | ntu-10356/145341 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:12:43Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1453412023-03-04T17:07:10Z SCALAR - simultaneous calibration of 2D laser and robot's kinematic parameters using three planar constraints Lembono, Teguh Santoso Suarez-Ruiz, Francisco Pham, Quang-Cuong School of Mechanical and Aerospace Engineering 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Engineering::Mechanical engineering Robot Kinematics Calibration Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However, the existing calibration approaches are either too cumbersome or require another expensive external measurement system such as laser tracker or measurement spinarm. In this paper, we propose SCALAR, a calibration method to simultaneously improve the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder (LRF) that is attached to the robot. Three flat planes are placed around the robot, and for each plane the robot moves to several poses such that the LRF's ray intersect the respective plane. Geometric planar constraints are then used to optimize the calibration parameters using Levenberg-Marquardt nonlinear optimization algorithm. We demonstrate through simulations that SCALAR can reduce the average position and orientation errors of the robot system from 14.6 mm and 4.05° to 0.09 mm and 0.02°. Nanyang Technological University SMART Innovation Centre Accepted version This work was supported in part by NTUitive Gap Fund NGF-2016-01-028, SMART Innovation Grant NG000074-ENG, and the European Union under the EU H2020 collaborative project MEMMO (Memory of Motion), Grant Agreement No. 780684. 2020-12-17T08:47:26Z 2020-12-17T08:47:26Z 2019 Conference Paper Lembono, T. S., Suarez-Ruiz, F., & Pham, Q.-C. (2018). SCALAR - simultaneous calibration of 2D laser and robot's kinematic parameters using three planar constraints. Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5570-5575. doi:10.1109/IROS.2018.8594073 978-1-5386-8095-7 https://hdl.handle.net/10356/145341 10.1109/IROS.2018.8594073 5570 5575 en NGF-2016-01-028 NG000074-ENG © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/IROS.2018.8594073 application/pdf |
| spellingShingle | Engineering::Mechanical engineering Robot Kinematics Calibration Lembono, Teguh Santoso Suarez-Ruiz, Francisco Pham, Quang-Cuong SCALAR - simultaneous calibration of 2D laser and robot's kinematic parameters using three planar constraints |
| title | SCALAR - simultaneous calibration of 2D laser and robot's kinematic parameters using three planar constraints |
| title_full | SCALAR - simultaneous calibration of 2D laser and robot's kinematic parameters using three planar constraints |
| title_fullStr | SCALAR - simultaneous calibration of 2D laser and robot's kinematic parameters using three planar constraints |
| title_full_unstemmed | SCALAR - simultaneous calibration of 2D laser and robot's kinematic parameters using three planar constraints |
| title_short | SCALAR - simultaneous calibration of 2D laser and robot's kinematic parameters using three planar constraints |
| title_sort | scalar simultaneous calibration of 2d laser and robot s kinematic parameters using three planar constraints |
| topic | Engineering::Mechanical engineering Robot Kinematics Calibration |
| url | https://hdl.handle.net/10356/145341 |
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