Robot and 3D-sensor calibration using a planar part of a robot hand
Robot and 3D-sensor calibration using a planar part of a robot hand
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使用机器人手的平面部分进行机器人和 3D 传感器校准
DOI：
10.1109/humanoids.2017.8246967
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Yousuke Goi and Yoshihiro Kawai
中科院分区：
文献类型：
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作者：
Yasuyo Kita;Yousuke Goi and Yoshihiro Kawai
提出了一种不使用标定工具标定机器人坐标和三维传感器坐标的通用方法。大多数校准方法需要一个精心制作的校准工具，如带有黑色和白色图案的标记板。然而，制作精确的校准板和观察附接到机器人手/由机器人手抓握/触摸的板都是麻烦的任务。为了减少校准所需的劳动力和时间，使在线注册，我们建议使用机器人手本身作为“校准对象”，而不做任何特殊的标记。由于作为末端执行器的手的位置和方向在机器人坐标中是已知的，因此校准问题被将手的几何模型配准到观察到的三维数据以确定其在视觉坐标中的位置的问题所取代。为了鲁棒地执行各种形状的手的配准，只有手的平面部分用于在迭代最近点框架中的配准。为了实现最少的人工交互，采取了两步方法，包括注册与人工交互和精度提高，使用多个观测。使用四个不同形状的手，所提出的方法的实用性进行了研究。
A generally applicable method of calibrating robot coordinates and three-dimensional sensor coordinates without using a calibration tool is proposed. Most calibration methods require an elaborate calibration tool, such as a marker board with a black and white pattern. However, making an accurate calibration board and making observations of the board attached to/grasped by/touched by a robot hand are both troublesome tasks. Aiming at reducing the labor and time required for calibration and enabling on-line registration, we propose using the robot hand itself as a “calibration object” without making any special marks. Because the position and orientation of the hand as an end-effector are known in the robot coordinates, the calibration problem is replaced by the problem of registering the geometric model of the hand to observed three-dimensional data to determine its location in the vision coordinates. To robustly carry out the registration for variously shaped hands, only a planar part of the hand is used for the registration in the iterative closest-point framework. To realize least manual interaction, a two-step approach that consists of registration with manual interaction and accuracy improvement using multiple observations is taken. The practical usefulness of the proposed method was examined using four differently shaped hands.