2018/03/02 by Teguh Santoso Lembono, Lembono, Teguh Santoso, Fransisco Suarez-Ruiz +3 · 1 citation
Engineering · #Robotic Mechanisms and Dynamics #Advanced Measurement and Metrology Techniques #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.1803.00747
Industrial robots are increasingly used in various applications where the\nrobot accuracy becomes very important, hence calibrations of the robot's\nkinematic parameters and the measurement system's extrinsic parameters are\nrequired. However, the existing calibration approaches are either too\ncumbersome or require another expensive external measurement system such as\nlaser tracker or measurement spinarm. In this paper, we propose SCALAR, a\ncalibration method to simultaneously improve the kinematic parameters of a\n6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder (LRF) which\nis attached to the robot. Three flat planes are placed around the robot, and\nfor each plane the robot moves to several poses such that the LRF's ray\nintersect the respective plane. Geometric planar constraints are then used to\noptimize the calibration parameters using Levenberg- Marquardt nonlinear\noptimization algorithm. We demonstrate through simulations that SCALAR can\nreduce the average position and orientation errors of the robot system from\n14.6mm and 4.05 degrees to 0.09mm and 0.02 degrees.\n