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Summary

This study introduces a fast, inexpensive method to calibrate robots and inertial measurement units (IMUs) simultaneously. By attaching an IMU to a robot and moving it, both systems are calibrated without external equipment.

Keywords:
Bayesian inferenceRobot calibrationcontinuous-time batch estimationinertial sensor calibrationoptimal trajectory planning

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Area of Science:

  • Robotics
  • Sensor Fusion
  • Calibration Techniques

Background:

  • Independent calibration of robots and inertial measurement units (IMUs) is costly, requiring specialized equipment like automated test rigs and high-accuracy tracking systems.
  • Current methods necessitate separate calibration processes for robots and IMUs, increasing time and expense.
  • Existing approaches often rely on expensive, external measurement systems for accurate pose determination.

Purpose of the Study:

  • To present a novel, cost-effective, and streamlined approach for the simultaneous calibration of robots and IMUs.
  • To eliminate the need for expensive, external tracking systems and dedicated test rigs.
  • To enable calibration by simply attaching an IMU to a robot's end effector and executing continuous motion.

Main Methods:

  • Utilizes continuous-time batch estimation for statistically optimal solutions.
  • Formulates the calibration as a nonlinear least squares problem under Gaussian assumptions.
  • Analyzes the structure of the Jacobian matrix associated with the estimation problem.

Main Results:

  • Demonstrates a method for simultaneous robot and IMU calibration using only the IMU and robot motion.
  • Achieves calibration without external measurement systems, reducing cost and complexity.
  • Validated through numerical simulations and experimental testing, showing comparable or superior results to traditional methods.

Conclusions:

  • The proposed method offers a quick, easy, and inexpensive alternative for calibrating robots and IMUs concurrently.
  • Continuous-time batch estimation provides an efficient and accurate solution for simultaneous sensor and robot calibration.
  • This approach significantly lowers the barrier to entry for accurate robot and IMU calibration in various applications.