SIA OpenIR  > 水下机器人研究室
On-line self-calibration method for unattended manipulators based on Gaussian motion model and visual system
Qi RL(祁若龙)1,2; Tang YG(唐元贵)3; Zhang K(张珂)1
Department水下机器人研究室
Source PublicationINDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
ISSN0143-991X
2021
Pages1-13
Indexed BySCI ; EI
EI Accession number20210309793110
WOS IDWOS:000607876700001
Contribution Rank1
Funding OrganizationChina Postdoctoral Science FoundationChina Postdoctoral Science Foundation [2019M651145] ; State Key Laboratory of Robotics [2019-O21] ; Natural Science Foundation of Liaoning ProvinceNatural Science Foundation of Liaoning Province [2019-ZD-0663]
KeywordLQG Monte-Carlo Self-calibration Unattended manipulator
Abstract

Purpose-For some special manipulators such as the ones work at the space station, nuclear or some other unmanned environments, the overload, collision, vibration, temperature change or release of the internal stress would affect the structural parameters. And thus the operation precision might constantly decrease in long-term use. In these unmanned environments, the unattended manipulators should calibrate itself when they execute high precision operations or proceed self-maintenances. The purpose of this paper is to propose an automatic visual assistant on-line calibration (AVOC) method based on multi-markers. Design/methodology/approach-A camera fixed on the end of the manipulator is used to measure one to three identification points, which forms an unstable multi-sensor eye-in-hand system. A Gaussian motion method which combines the linear quadratic regulator control and extended Kalman filter together is proposed to make the manipulator track the planned trajectories when its inaccurate structural parameters form uncertain motion errors. And a Monte-Carlo method is proposed to form a high precision and stable signal acquisition when the visual system has measurement errors and intermittent signal feedback. An automatic sampling process is adopted to select the optimal measurement points basing on their variances. Findings-Data analysis and experiment results prove the efficiency and feasibility of the method proposed in this paper. With this method, the positioning accuracy is largely promoted from about 2 mm to 0.04-0.05 mm. Originality/value-Experiments were carried out successfully on a manipulator in a life sciences glove box that will work at the Chinese space station. It is a low cost and efficient manipulator calibration method. The whole autonomic calibration process takes less than 10 min and requires no human intervention. In addition, this method not only can be used in the calibration of other unmanned articulated manipulator that works in deep ocean, nuclear industry or space but also be useful for the maintenance work in modern factories owing a lot of industrial robots.

Language英语
WOS SubjectEngineering, Industrial ; Robotics
WOS Research AreaEngineering ; Robotics
Funding ProjectChina Postdoctoral Science Foundation[2019M651145] ; State Key Laboratory of Robotics[2019-O21] ; Natural Science Foundation of Liaoning Province[2019-ZD-0663]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/28211
Collection水下机器人研究室
Corresponding AuthorQi RL(祁若龙)
Affiliation1.Department of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Qi RL,Tang YG,Zhang K. On-line self-calibration method for unattended manipulators based on Gaussian motion model and visual system[J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION,2021:1-13.
APA Qi RL,Tang YG,&Zhang K.(2021).On-line self-calibration method for unattended manipulators based on Gaussian motion model and visual system.INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION,1-13.
MLA Qi RL,et al."On-line self-calibration method for unattended manipulators based on Gaussian motion model and visual system".INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION (2021):1-13.
Files in This Item:
File Name/Size DocType Version Access License
On-line self-calibra(3716KB)期刊论文出版稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Qi RL(祁若龙)]'s Articles
[Tang YG(唐元贵)]'s Articles
[Zhang K(张珂)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Qi RL(祁若龙)]'s Articles
[Tang YG(唐元贵)]'s Articles
[Zhang K(张珂)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Qi RL(祁若龙)]'s Articles
[Tang YG(唐元贵)]'s Articles
[Zhang K(张珂)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: On-line self-calibration method for unattended manipulators based on Gaussian motion model and visual system.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.