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Comparative Study of Two Pose Measuring Systems Used to Reduce Robot Localization Error.
Marek Franaszek1, Geraldine S Cheok1, Jeremy A Marvel1
1National Institute of Standards and Technology, Gaithersburg, MD 20899, USA.
Sensors (Basel, Switzerland)
|March 4, 2020
Summary
This study introduces metrics to assess rigid-body condition deviations in six degrees of freedom (6DOF) pose systems. These metrics explain why one system reduced robot localization error in both position and orientation, while another only improved position.
Area of Science:
- Robotics and Automation
- Metrology and Measurement Science
Background:
- Marker-based six degrees of freedom (6DOF) pose measuring systems rely on the fixed distances between 3D points to maintain a rigid-body condition.
- Deviations from the rigid-body condition can impact the accuracy of pose measurements, particularly in applications like robot localization.
Purpose of the Study:
- To introduce novel metrics for quantifying deviations from the rigid-body condition in 6DOF pose measuring systems.
- To evaluate the impact of these metrics on reducing robot localization error in industrial assembly.
Main Methods:
- Development and application of new metrics to assess the integrity of the rigid-body condition in 3D point configurations.
- Experimental validation using two distinct 6DOF pose systems to reduce the localization error of an industrial robot.
Main Results:
- One system, characterized by specific metrics, achieved substantial reductions in both robot position and orientation error.
- A second system, characterized by different metrics, yielded comparable position error reduction but significantly less orientation error improvement.
- The differing outcomes were attributed to the distinct metrics used to characterize the performance and rigidity of each system.
Conclusions:
- The proposed metrics are effective in evaluating the suitability of 6DOF pose systems for applications demanding high accuracy in both position and orientation.
- Understanding and quantifying deviations from the rigid-body condition is crucial for selecting appropriate pose measurement systems and achieving optimal robot localization performance.
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