| High Precision Calibration for Three-Dimensional Vision-Guided Robot System | |
Liu, Zhicheng1,2 ; Liu, Xilong1,2; Cao, Zhiqiang1,2; Gong, Xurong1,2; Tan, Min1,2; Yu, Junzhi3
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| Source Publication | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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| ISSN | 0278-0046 |
| 2023 | |
| Volume | 70Issue:1Pages:624-634 |
| Corresponding Author | Liu, Xilong(xilong.liu@ia.ac.cn) |
| Abstract | Calibration is an important premise for vision-guided robot system, especially for precise industrial operations on curved surfaces. Most of existing methods focus on one or partial union of errors including assembly error of the robot, relative pose error between the vision unit and the robot, or installation error of end effector, which is still challenging in practice. To solve this problem, this article proposes a new calibration method based on error correction matrix by which different manifestations of each error is unified. As the nonlinear equations formed by these matrices cannot be solved analytically, a numerical optimization solution based on Lie algebra is presented. Specifically, the matrices acquisition is formulated as the problem of minimizing the sum of distance deviations between actual and ideal tool center points. This problem is then solved by differentiating these matrices with a form of left multiplicative perturbation. In this way, a high precision joint calibration with multisource errors is achieved. The proposed method is verified by simulations and experiments. |
| Keyword | Robots Calibration Robot kinematics Mathematical models End effectors Cameras Robot vision systems Calibration error correction matrix unified model vision-guided robot |
| DOI | 10.1109/TIE.2022.3152026 |
| WOS Keyword | PARAMETERS ; IDENTIFICATION ; ACCURATE ; WORLD |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[62073322] ; National Key R&D Program of China[2019YFB1311100] |
| Funding Organization | National Natural Science Foundation of China ; National Key R&D Program of China |
| WOS Research Area | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| WOS Subject | Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation |
| WOS ID | WOS:000845325500060 |
| Publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/50048 |
| Collection | 复杂系统管理与控制国家重点实验室_先进机器人 |
| Corresponding Author | Liu, Xilong |
| Affiliation | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peking Univ, BIC ESAT Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China |
| First Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Corresponding Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Recommended Citation GB/T 7714 | Liu, Zhicheng,Liu, Xilong,Cao, Zhiqiang,et al. High Precision Calibration for Three-Dimensional Vision-Guided Robot System[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(1):624-634. |
| APA | Liu, Zhicheng,Liu, Xilong,Cao, Zhiqiang,Gong, Xurong,Tan, Min,&Yu, Junzhi.(2023).High Precision Calibration for Three-Dimensional Vision-Guided Robot System.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(1),624-634. |
| MLA | Liu, Zhicheng,et al."High Precision Calibration for Three-Dimensional Vision-Guided Robot System".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.1(2023):624-634. |
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