China is launching the lunar exploration mission, namely "Chang'e" project. In the third phase of the project, a probe will be sent to the moon to acquire the lunar regolith through automated drilling device. The drilling sample is expected to be sealed into a storing container which will be brought back to the earth by return capsule. Drilling sample should be pulled out from the drill stem and pre-treated into a device which will be transferred to the storing container together with the sample. Due to the harsh working environment and limited power and mass resources, the pre-treating device for drilling sample should be reliable, lightweight, and good environmental-adaptability. This paper proposed a kind of pre-treating device for the drilling sample. The design details of the device was discussed. Experiments were conducted to verify the design concept of the pre-treating device.
{"title":"A pre-treating device for drilling sample in lunar exploration","authors":"Shengyuan Jiang, Yinchao Wang, Q. Quan, Hongyin Yu, Z. Deng, Dewei Tang","doi":"10.1109/ROBIO.2013.6739558","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739558","url":null,"abstract":"China is launching the lunar exploration mission, namely \"Chang'e\" project. In the third phase of the project, a probe will be sent to the moon to acquire the lunar regolith through automated drilling device. The drilling sample is expected to be sealed into a storing container which will be brought back to the earth by return capsule. Drilling sample should be pulled out from the drill stem and pre-treated into a device which will be transferred to the storing container together with the sample. Due to the harsh working environment and limited power and mass resources, the pre-treating device for drilling sample should be reliable, lightweight, and good environmental-adaptability. This paper proposed a kind of pre-treating device for the drilling sample. The design details of the device was discussed. Experiments were conducted to verify the design concept of the pre-treating device.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130710871","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Since the intricate and dangerous working environment of steam generator, it's risk for workers to complete fastening bolts of blocking plate. The paper introduces a fastening bolt method based on image recognition. The mechanical structure and control system were proposed gradually to be a carrier for the method. Then the image recognition adapted the Canny algorithm to realize the image binaryzation and draw the image counter. After the polygonal curve algorithm was utilized to get the hexagon, the center coordination values of the hexagon was obtained by the hexagonal spatial moment. In addition, the fastening bolt method was displayed, which adapted the torque and time control method. Finally the precision and bolt experiment validated the procedure of the image recognition and fastening bolt.
{"title":"A fastening bolt method based on image recognition","authors":"X. Duan, Yonggui Wang, Meng Li, Xiangzhan Kong, Syed Amjad Ali","doi":"10.1109/ROBIO.2013.6739883","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739883","url":null,"abstract":"Since the intricate and dangerous working environment of steam generator, it's risk for workers to complete fastening bolts of blocking plate. The paper introduces a fastening bolt method based on image recognition. The mechanical structure and control system were proposed gradually to be a carrier for the method. Then the image recognition adapted the Canny algorithm to realize the image binaryzation and draw the image counter. After the polygonal curve algorithm was utilized to get the hexagon, the center coordination values of the hexagon was obtained by the hexagonal spatial moment. In addition, the fastening bolt method was displayed, which adapted the torque and time control method. Finally the precision and bolt experiment validated the procedure of the image recognition and fastening bolt.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132021637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739459
Tao Cao, Dayou Li, C. Maple, Renxi Qiu
Unstructured domestic environments present a substantial challenge to effective robotic operation. Domestic environment requires service robots to deal with unexpected environment changes, novel objects, and user manipulations. We present an approach to enable service robots to actively learn high-level skills in an unstructured environment. This involves using a combination of processing environment changes, recording and learning user manipulation data, setting up meaningful hypothesis, proactively performing test actions and interacting with user feedback, and logic reasoning. We demonstrate our Robot Self-Learning (RSL) approach by using ROS (Robotic Operating System) and Care-O-bot (COB) 3. These methods enable service robots to learn generalized high-level skills in a sophisticated and changing environment. The RSL approach allows robots to learn new actions imposed by a human and action condition from perception changes from the environment. We also present logic based reasoning engine to speed up the self learning process.
{"title":"Human interaction based Robot Self-Learning approach for generic skill learning in domestic environment","authors":"Tao Cao, Dayou Li, C. Maple, Renxi Qiu","doi":"10.1109/ROBIO.2013.6739459","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739459","url":null,"abstract":"Unstructured domestic environments present a substantial challenge to effective robotic operation. Domestic environment requires service robots to deal with unexpected environment changes, novel objects, and user manipulations. We present an approach to enable service robots to actively learn high-level skills in an unstructured environment. This involves using a combination of processing environment changes, recording and learning user manipulation data, setting up meaningful hypothesis, proactively performing test actions and interacting with user feedback, and logic reasoning. We demonstrate our Robot Self-Learning (RSL) approach by using ROS (Robotic Operating System) and Care-O-bot (COB) 3. These methods enable service robots to learn generalized high-level skills in a sophisticated and changing environment. The RSL approach allows robots to learn new actions imposed by a human and action condition from perception changes from the environment. We also present logic based reasoning engine to speed up the self learning process.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130236705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739870
U. Qayyum, Jonghyuk Kim
Recently, the robotics community has widely used color-depth (RGB-D) sensors for various applications, such as collision avoidance, navigation and robotic path planning. To effectively utilize the benefit of depth and color modalities, it is important to know the relative pose between these sensors. In this paper we proposed a theoretical and practical approach to estimate the rigid body transformation between these complimentary sensors (extrinsic calibration). The proposed work is based upon the exploitation of some common characteristics, between theses different modalities, by integrating a consistency criteria in the nonlinear optimization framework. The calibration procedure does not require any calibration object and directly operate on the visual correspondences. We have presented calibration results on low-cost built visual-laser scanner for indoor and outdoor environments. We have also compared our approach with the existing work and found the results to be more accurate.
{"title":"Consistency based calibration approach for visual-laser scanner","authors":"U. Qayyum, Jonghyuk Kim","doi":"10.1109/ROBIO.2013.6739870","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739870","url":null,"abstract":"Recently, the robotics community has widely used color-depth (RGB-D) sensors for various applications, such as collision avoidance, navigation and robotic path planning. To effectively utilize the benefit of depth and color modalities, it is important to know the relative pose between these sensors. In this paper we proposed a theoretical and practical approach to estimate the rigid body transformation between these complimentary sensors (extrinsic calibration). The proposed work is based upon the exploitation of some common characteristics, between theses different modalities, by integrating a consistency criteria in the nonlinear optimization framework. The calibration procedure does not require any calibration object and directly operate on the visual correspondences. We have presented calibration results on low-cost built visual-laser scanner for indoor and outdoor environments. We have also compared our approach with the existing work and found the results to be more accurate.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127808123","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739879
Chaojiong Huang, J. Gu, Jun Luo, Hengyu Li, Shaorong Xie, Hengli Liu
We present a novel bionic eye based on spherical ultrasonic motor (SUSM). SUSM is a compact mechanism occupying little space but good responsiveness, high positioning accuracy, high torque at low speed and strong magnetic field compatibility. With those advantages, the bionic eye easily implements some human eye movements. It is constructed from an eyeball, three driving stators, three preloaded apparatuses and some supports, and has three degrees of freedom (3-DOF). The eyeball is driven by frictional forces from three same annular stators attached with several piezoelectric elements. A velocity closed-loop control by piezoelectric element is utilized to improve the eyeball's rotational velocity driven by each stator. An attitude sensor is mounted in the eyeball to improve its integrated position accuracy by a position closed-loop control method. The experimental results indicate the availability of our bionic eye and the validity of the closed-loop control methods.
{"title":"System design and study of bionic eye based on spherical ultrasonic motor using closed-loop control","authors":"Chaojiong Huang, J. Gu, Jun Luo, Hengyu Li, Shaorong Xie, Hengli Liu","doi":"10.1109/ROBIO.2013.6739879","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739879","url":null,"abstract":"We present a novel bionic eye based on spherical ultrasonic motor (SUSM). SUSM is a compact mechanism occupying little space but good responsiveness, high positioning accuracy, high torque at low speed and strong magnetic field compatibility. With those advantages, the bionic eye easily implements some human eye movements. It is constructed from an eyeball, three driving stators, three preloaded apparatuses and some supports, and has three degrees of freedom (3-DOF). The eyeball is driven by frictional forces from three same annular stators attached with several piezoelectric elements. A velocity closed-loop control by piezoelectric element is utilized to improve the eyeball's rotational velocity driven by each stator. An attitude sensor is mounted in the eyeball to improve its integrated position accuracy by a position closed-loop control method. The experimental results indicate the availability of our bionic eye and the validity of the closed-loop control methods.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131314690","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739438
Jelena Prsa, Johannes Schwaiger, F. Irlinger, T. Lüth
In this paper a new slicing method for filling an arbitrary polygon with 3D-balls for a 3D plastic droplet generation process is presented. The work principle of the 3D plastic droplet generation is to squeeze the plastic material through a nozzle, out of which small hardened balls are formed and based on the contour and infill algorithm the 3D objects filled with plastic droplets are layer-wise created. Zigzag lines and the Shrinking contours infill strategies, used in the most slicing software of the similar rapid prototyping process Fused Deposition Modelling (FDM) are applicable in this case as well, but do not take advantage of utilising droplets. In the proposed algorithm, each of the slices with contour polygons is intersected with a constant fixed 3D densest sphere formation. Those spheres, which are within a polygon of a certain slice, are forming printed droplets. The droplet placement is by applying this algorithm predefined and completely controlled. Moreover, the holes within a slice, as well as between the slices are minimised and regularly scattered. In the experiment the density of a cube filled with droplets with three different infill strategies (Zig-zag, Shrinking contours and the dense 3D packing) is measured and the dense 3D packing method results in the highest density. This method leads to achieving the goal of producing the 3D objects with fine surface quality and sufficient stability.
{"title":"Dense 3D-packing algorithm for filling the offset contours of a new printing process based on 3D plastic droplet generation","authors":"Jelena Prsa, Johannes Schwaiger, F. Irlinger, T. Lüth","doi":"10.1109/ROBIO.2013.6739438","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739438","url":null,"abstract":"In this paper a new slicing method for filling an arbitrary polygon with 3D-balls for a 3D plastic droplet generation process is presented. The work principle of the 3D plastic droplet generation is to squeeze the plastic material through a nozzle, out of which small hardened balls are formed and based on the contour and infill algorithm the 3D objects filled with plastic droplets are layer-wise created. Zigzag lines and the Shrinking contours infill strategies, used in the most slicing software of the similar rapid prototyping process Fused Deposition Modelling (FDM) are applicable in this case as well, but do not take advantage of utilising droplets. In the proposed algorithm, each of the slices with contour polygons is intersected with a constant fixed 3D densest sphere formation. Those spheres, which are within a polygon of a certain slice, are forming printed droplets. The droplet placement is by applying this algorithm predefined and completely controlled. Moreover, the holes within a slice, as well as between the slices are minimised and regularly scattered. In the experiment the density of a cube filled with droplets with three different infill strategies (Zig-zag, Shrinking contours and the dense 3D packing) is measured and the dense 3D packing method results in the highest density. This method leads to achieving the goal of producing the 3D objects with fine surface quality and sufficient stability.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128762875","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739594
Wei Wei, Fu Wan, Nan Liu, Yao Lu, Bang Yang
A novel water-drop power generation system is proposed based on ionic conducting polymer film (ICPF) material in this paper. ICPF is a new intelligent material, which has piezoelectric power generation capacity. As a piezoelectric material, ICPF can generate charge with using the feature. This power generation device mainly includes water-drop generating device, rectifier unit and storage unit. In order to study the electricity generation principle of ICPF, it is necessary to obtain the relationship between the charge and deflection of ICPF. The relationship between the applied force and the corresponding charge is studied by mathematical analysis and ANSYS software. In addition, the theoretical result is almost similar with the experimental results in trend. Accordingly, the results indicate that ICPF has piezoelectric properties and it is feasible to develop this power generation system. This water-drop power generation for generating maximum voltage can reach about 0.2v. The development of this technology has a prospect approach for further research in the new energy field.
{"title":"A novel water-drop power generation system based on ICPF actuator","authors":"Wei Wei, Fu Wan, Nan Liu, Yao Lu, Bang Yang","doi":"10.1109/ROBIO.2013.6739594","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739594","url":null,"abstract":"A novel water-drop power generation system is proposed based on ionic conducting polymer film (ICPF) material in this paper. ICPF is a new intelligent material, which has piezoelectric power generation capacity. As a piezoelectric material, ICPF can generate charge with using the feature. This power generation device mainly includes water-drop generating device, rectifier unit and storage unit. In order to study the electricity generation principle of ICPF, it is necessary to obtain the relationship between the charge and deflection of ICPF. The relationship between the applied force and the corresponding charge is studied by mathematical analysis and ANSYS software. In addition, the theoretical result is almost similar with the experimental results in trend. Accordingly, the results indicate that ICPF has piezoelectric properties and it is feasible to develop this power generation system. This water-drop power generation for generating maximum voltage can reach about 0.2v. The development of this technology has a prospect approach for further research in the new energy field.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125431784","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739679
X. Duan, Meng Li, Yonggui Wang, Xiangzhan Kong, Yang Yang, Syed Amjad Ali
In this paper, a CAN-bus based distributed control system for a blocking plate manipulation robot is developed to meet the requirements of operating environment in nuclear power plants. In terms of the architecture for the control system, hardware and software for this robot is designed and implemented. Safety design is particularly mentioned as a vital ensurance of the robot system. Absolute positioning accuracy experiment is provided to verify the effectiveness of the control system design and implementation.
{"title":"Control system design and implementation for a blocking plate manipulation robot","authors":"X. Duan, Meng Li, Yonggui Wang, Xiangzhan Kong, Yang Yang, Syed Amjad Ali","doi":"10.1109/ROBIO.2013.6739679","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739679","url":null,"abstract":"In this paper, a CAN-bus based distributed control system for a blocking plate manipulation robot is developed to meet the requirements of operating environment in nuclear power plants. In terms of the architecture for the control system, hardware and software for this robot is designed and implemented. Safety design is particularly mentioned as a vital ensurance of the robot system. Absolute positioning accuracy experiment is provided to verify the effectiveness of the control system design and implementation.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126605795","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739696
Siran Zhang, Wenfu Xu, Zhiying Wang
For a serial manipulator with non-spherical wrist, the kinematics of the wrist's position and orientation is not decoupled and the singularity analysis is very difficult. In this paper, a method is proposed to analytically identify the singularity configurations for a class of serial manipulators with non-spherical wrist. Firstly, the configuration characteristics of typical serial manipulators are analyzed and a general model is constructed to describe their kinematics in a united manner. Secondly, the kinematics transformation without changing the independence of joint motion is presented to simplify the kinematics equations. Then the main elementary transformation matrices are established. Thirdly, the singularity conditions are isolated and collected in a lower sub-matrix by several times of elementary transformations for the modified Jacobian matrix, which is partitioned into a block-triangle matrix. Finally, for the practical applications, some 6-DOF and 7-DOF manipulators are analyzed. The results obtained show the generality and feasibility of the proposed method.
{"title":"Singularity analysis for a class of serial manipulators with non-spherical wrists","authors":"Siran Zhang, Wenfu Xu, Zhiying Wang","doi":"10.1109/ROBIO.2013.6739696","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739696","url":null,"abstract":"For a serial manipulator with non-spherical wrist, the kinematics of the wrist's position and orientation is not decoupled and the singularity analysis is very difficult. In this paper, a method is proposed to analytically identify the singularity configurations for a class of serial manipulators with non-spherical wrist. Firstly, the configuration characteristics of typical serial manipulators are analyzed and a general model is constructed to describe their kinematics in a united manner. Secondly, the kinematics transformation without changing the independence of joint motion is presented to simplify the kinematics equations. Then the main elementary transformation matrices are established. Thirdly, the singularity conditions are isolated and collected in a lower sub-matrix by several times of elementary transformations for the modified Jacobian matrix, which is partitioned into a block-triangle matrix. Finally, for the practical applications, some 6-DOF and 7-DOF manipulators are analyzed. The results obtained show the generality and feasibility of the proposed method.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123198040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The SAI method is a simple and flexible calibration method for robot calibration using twist parameters. The theodolite is usually used in the calibration process, which is expensive and inconvenient to be utilized. This paper aims to investigate how to take advantage of visual measuring system for robot calibration effectively. The main idea of the SAI method is to measure the coordinates of robot end points before and after each robot joint rotations in the world coordination. For the visual measurement, only seven images of robot end points before and after each robot joint rotations are needed, and the coordinates could be obtained by using the image points and the internal-and-external parameters of the cameras. The simulation experiments show that the precision of vision measurement is about 0.13 times that of the robot positioning, and the robot positioning error introduced by the end camera decreases as the accuracy of the visual measurement system increases. Accordingly, two 5DMark II cameras, whose measurement precision of which is of 0.16mm, are used as the measuring instruments to calibrate the robot in real experiment. The experimental results show that the positioning error of the robot calibrated by cameras is smaller than 2mm, which is largely consistent with the simulation result. Therefore, using vision to realize the SAI calibration method on robot not only can simplify the process, reduce the cost, but also can ensure the high precision.
{"title":"Accurate robot calibration by SAI method through visual measurement","authors":"Haixia Wang, Yuanyuan Ma, Sheng Cheng, Yuxia Li, Xiao Lu, Xuecheng Su","doi":"10.1109/ROBIO.2013.6739878","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739878","url":null,"abstract":"The SAI method is a simple and flexible calibration method for robot calibration using twist parameters. The theodolite is usually used in the calibration process, which is expensive and inconvenient to be utilized. This paper aims to investigate how to take advantage of visual measuring system for robot calibration effectively. The main idea of the SAI method is to measure the coordinates of robot end points before and after each robot joint rotations in the world coordination. For the visual measurement, only seven images of robot end points before and after each robot joint rotations are needed, and the coordinates could be obtained by using the image points and the internal-and-external parameters of the cameras. The simulation experiments show that the precision of vision measurement is about 0.13 times that of the robot positioning, and the robot positioning error introduced by the end camera decreases as the accuracy of the visual measurement system increases. Accordingly, two 5DMark II cameras, whose measurement precision of which is of 0.16mm, are used as the measuring instruments to calibrate the robot in real experiment. The experimental results show that the positioning error of the robot calibrated by cameras is smaller than 2mm, which is largely consistent with the simulation result. Therefore, using vision to realize the SAI calibration method on robot not only can simplify the process, reduce the cost, but also can ensure the high precision.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121519109","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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