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 |
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Idiap |
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| Added by: | [UNK] |
| Total mark: | 0 |
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