Planning and control of self-calibrated manipulation for a robot on a mobile platform

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI:10.1109/ROBOT.1997.614334

D. Xiao, B. Ghosh, N. Xi, T. Tarn

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Abstract

The essence of our scheme is to extend our earlier (Ghosh et al., 1996) proposed multi-sensor based observation scheme to a situation where the location of the mobile platform is unknown. A new self-calibrated manipulation scheme is proposed to determine the position and orientation of the part with respect to the coordinate system attached to the base of the robot manipulator. The novelties of the proposed approach can be summarized as (i) multi-sensor fusion scheme based on complementary data for the purpose of part localization, (ii) part tracking and grasping control based on parallel tracking, and (iii) self-calibration of the location of the mobile platform using visual data and feature points on the end-effector. The principle advantages of the proposed scheme are described as follows. (i) It renders possible reconfiguring a manufacturing workcell without recalibrating the robot based coordinate frame. This significantly reduces the setup time of the workcell. (ii) It significantly reduces the requirement on the image processing speed. Experimental study of the proposed scheme has been carried out and the results are reported in this paper.

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移动平台上机器人自校准操作的规划与控制

我们方案的本质是将我们之前(Ghosh et al.， 1996)提出的基于多传感器的观测方案扩展到移动平台位置未知的情况。提出了一种基于机器人基座坐标系确定零件位置和姿态的自标定操纵方案。该方法的新颖之处可以概括为:(i)基于互补数据的多传感器融合方案，用于零件定位;(ii)基于并行跟踪的零件跟踪和抓取控制;(iii)利用视觉数据和末端执行器上的特征点自校准移动平台的位置。提出的方案的主要优点如下。(i)在不重新校准机器人坐标框架的情况下，可以重新配置制造工作单元。这大大减少了工作单元的设置时间。(ii)大大降低了对图像处理速度的要求。本文对所提出的方案进行了实验研究，并给出了实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of International Conference on Robotics and Automation

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