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 [BibTeX] [Marc21]
SCALAR: Simultaneous Calibration of 2-D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints
Type of publication: Journal paper
Citation: Lembono_T-ASE_2019
Publication status: Published
Journal: IEEE Transactions on Automation Science and Engineering
Volume: 16
Number: 4
Year: 2019
Month: October
Pages: 1971-1979
DOI: 10.1109/TASE.2019.2918141
Abstract: In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2-D laser range finder (LRF) attached to the robot's flange. The calibration setup requires only a flat plate with two small holes carved on it at a known distance from each other and a sharp tool-tip attached to the robot's flange. The calibration is formulated as a nonlinear optimization problem where the laser and the tool-tip are used to provide the planar and distance constraints, and the optimization problem is solved using the Levenberg-Marquardt algorithm. We demonstrate through experiments that SCALAR can reduce the mean and the maximum tool position error from 0.44 to 0.19 mm and from 1.41 to 0.50 mm, respectively.
Keywords: calibration, Measurement by laser beam, Robot kinematics
Projects Idiap
Authors Lembono, Teguh Santoso
Suarez-Ruiz, Francisco
Pham, Quang-Cuong
Editors Hytowitz, Rebecca
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