CONF
Lembono_IROS_2018/IDIAP
SCALAR - Simultaneous Calibration of 2D Laser And Robot's Kinematic Parameters Using Three Planar Constraints
Lembono, Teguh Santoso
Suarez-Ruiz, Francisco
Pham, Quang-Cuong
EXTERNAL
http://publications.idiap.ch/attachments/papers/2018/Lembono_IROS_2018.pdf
PUBLIC
International Conference on Intelligent Robots
2018
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 measure-
ment 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 degrees to 0.09 mm
and 0.02 degrees.