Sensor Calibration and Registration for Mobile Manipulators

This paper describes the methods used to register a mobile manipulator to a workstation to perform assembly tasks. The nonlinear, least square model of the system is formulated and Ceres Solver is used to compute the position of the robot arm relative to the mobile base. The use of non-contact fiducials to test the accuracy and repeatability of the mobile manipulator positioning in the context of an assembly operation is also discussed. Using mathematical methods and indirect measurements it is possible to compute the offset between physical components of the system where direct measurement is not feasible. Keywordsrobot; AGV; mobile manipulator; collaborative robotics; registration; Ceres Solver; calibration.

[1]  D. Herrero-Pérez,et al.  Autonomous navigation of an automated guided vehicle in industrial environments , 2010 .

[2]  Hugh F. Durrant-Whyte,et al.  An Autonomous Guided Vehicle for Cargo Handling Applications , 1995, ISER.

[3]  Ole Madsen,et al.  Autonomous Industrial Mobile Manipulation (AIMM): From Research to Industry , 2011 .

[4]  Fadi Dornaika,et al.  Simultaneous robot-world and hand-eye calibration , 1998, IEEE Trans. Robotics Autom..

[5]  Mads Hvilshøj,et al.  “Little Helper” — An Autonomous Industrial Mobile Manipulator Concept , 2011 .

[6]  Alonzo Kelly,et al.  Field and service applications - An infrastructure-free automated guided vehicle based on computer vision - An Effort to Make an Industrial Robot Vehicle that Can Operate without Supporting Infrastructure , 2007, IEEE Robotics & Automation Magazine.

[7]  S. Spiess,et al.  On the calibration of a 6D laser tracking system for contactless, dynamic robot measurements , 1997, IEEE Instrumentation and Measurement Technology Conference Sensing, Processing, Networking. IMTC Proceedings.

[8]  Roger V. Bostelman,et al.  Dynamic Metrology Performance Measurement of a Six Degrees-of-Freedom Tracking System Used in Smart Manufacturing , 2016 .

[9]  Roger Bostelman,et al.  Navigation performance evaluation for automatic guided vehicles , 2015, 2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA).

[10]  Paul R. Cohen,et al.  Camera Calibration with Distortion Models and Accuracy Evaluation , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[11]  Hongdong Li,et al.  Rotation Averaging , 2013, International Journal of Computer Vision.

[12]  Mili Shah,et al.  Solving the Robot-World/Hand-Eye Calibration Problem Using the Kronecker Product , 2013 .

[13]  Robin R. Murphy,et al.  Autonomous navigation in a manufacturing environment , 1990, IEEE Trans. Robotics Autom..

[14]  Y. Oshman,et al.  Averaging Quaternions , 2007 .

[15]  Jing Xiao,et al.  Real-Time Adaptive Motion Planning (RAMP) of Mobile Manipulators in Dynamic Environments With Unforeseen Changes , 2008, IEEE Transactions on Robotics.

[16]  Roger Bostelman,et al.  Mobile robot and mobile manipulator research towards ASTM standards development , 2016, Commercial + Scientific Sensing and Imaging.

[17]  ROGER BOSTELMAN,et al.  Comparison of registration methods for mobile manipulators , 2016 .

[18]  Reid G. Simmons,et al.  An autonomous mobile manipulator for assembly tasks , 2010, Auton. Robots.

[19]  Sebti Foufou,et al.  Mobile Manipulator Performance Measurement Towards Manufacturing Assembly Tasks , 2016, PLM.

[20]  Reid G. Simmons,et al.  Mobile robotic dynamic tracking for assembly tasks , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[21]  Jeremy A. Marvel,et al.  Performance measurement of mobile manipulators , 2015, Commercial + Scientific Sensing and Imaging.

[22]  Brett Browning,et al.  Automatic Calibration of a Range Sensor and Camera System , 2012, 2012 Second International Conference on 3D Imaging, Modeling, Processing, Visualization & Transmission.

[23]  Mili Shah,et al.  An overview of robot-sensor calibration methods for evaluation of perception systems , 2012, PerMIS.

[24]  Yunbao Huang,et al.  Multi-sensor calibration through iterative registration and fusion , 2009, Comput. Aided Des..

[25]  Rommel E. Mandapat.  Development and Evaluation of Positioning Systems for Autonomous Vehicle Navigation , 2001 .

[26]  O. D. Faugeras,et al.  Camera Self-Calibration: Theory and Experiments , 1992, ECCV.

[27]  Roger V. Bostelman,et al.  Autonomous Industrial Vehicles: From the Laboratory to the Factory Floor , 2016 .

[28]  Mili Shah.  Comparing two sets of corresponding six degree of freedom data , 2011, Comput. Vis. Image Underst..

[29]  Zhengyou Zhang,et al.  A Flexible New Technique for Camera Calibration , 2000, IEEE Trans. Pattern Anal. Mach. Intell..

[30]  Jean-Yves Bouguet,et al.  Camera calibration toolbox for matlab , 2001 .