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Calibration of mobile manipulators using 2D positional features.

Mili Shah1,2, Roger Bostelman2,3, Steven Legowik4

  • 1Department of Mathematics and Statistics, Loyola University Maryland, 4501 North Charles Street, Baltimore, MD 21210, United States.

Measurement : Journal of the International Measurement Confederation
|April 19, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces a new, affordable method for calibrating mobile manipulators on automated ground vehicles (AGVs). The technique accurately measures performance by using laser retroreflectors and AGV navigation data.

Keywords:
Closed form solutionPoseRegistrationRobot-world/hand-eye calibrationSensor calibration

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Area of Science:

  • Robotics
  • Manufacturing Automation
  • Sensor Fusion

Background:

  • Mobile manipulators on automated ground vehicles (AGVs) enhance manufacturing efficiency.
  • Calibration is challenging due to unknown offsets between the manipulator and AGV.

Purpose of the Study:

  • To present a novel, simple, and low-cost method for calibrating mobile manipulators.
  • To measure the performance of these mobile robotic systems.

Main Methods:

  • Utilizes data from a laser retroreflector for 2D position detection.
  • Integrates AGV navigation data (heading angle and 2D position).
  • Provides a closed-form solution for the 2D robotworld/hand-eye calibration problem AX Y = B.

Main Results:

  • Successfully applied the method to simulated and laboratory data.
  • Demonstrated a viable approach for calibrating mobile manipulators.
  • Compared the novel method against existing calibration techniques.

Conclusions:

  • The proposed method offers an effective solution for mobile manipulator calibration.
  • It is a low-cost and simple alternative for improving manufacturing system performance.
  • The technique addresses the critical challenge of unknown offsets in mobile robotic systems.