CASIA OpenIR  > 中科院工业视觉智能装备工程实验室
Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph
Zhou, Zishun1,2; Ma, Liping3,4; Liu, Xilong3,4; Cao, Zhiqiang3,4; Yu, Junzhi5
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2023-05-01
Volume71Issue:5Pages:5010-5020
Corresponding AuthorMa, Liping(liping.ma@ia.ac.cn)
AbstractPrecise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multieyes (cameras) and multihands (robots) are particularly sensitive to calibration errors. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the pose between each unit, but the serialized incremental calibration strategy cannot avoid the error accumulation problem in a large-scale system. Instead of focusing on a single unit, this article models the multieye and multihand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization with different sensor's accuracy considered. As a general calibration method, it can be applied to different multirobot systems. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method.
KeywordCalibration error correction graph theory multirobot systems robot vision systems.
DOI10.1109/TIE.2023.3283693
WOS KeywordCAMERA ; MODEL ; POSE
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61973302 2020-01-01similar to2023-12-31] ; National Defense Basic Research Program Key Projects[JCKY2020208B027] ; CIE-Tencent Robotics X Rhino-Bird Focused Research Program[2022-07] ; Beijing Natural Science Foundation[2022MQ05]
Funding OrganizationNational Natural Science Foundation of China ; National Defense Basic Research Program Key Projects ; CIE-Tencent Robotics X Rhino-Bird Focused Research Program ; Beijing Natural Science Foundation
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:001129090300044
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/55389
Collection中科院工业视觉智能装备工程实验室
多模态人工智能系统全国重点实验室
Corresponding AuthorMa, Liping
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Australian Natl Univ, Coll Engn Comp & Cybernet, Canberra, ACT 2601, Australia
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
5.Peking Univ, Dept Adv Mfg & Robot, Coll Engn, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zhou, Zishun,Ma, Liping,Liu, Xilong,et al. Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,71(5):5010-5020.
APA Zhou, Zishun,Ma, Liping,Liu, Xilong,Cao, Zhiqiang,&Yu, Junzhi.(2023).Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,71(5),5010-5020.
MLA Zhou, Zishun,et al."Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 71.5(2023):5010-5020.
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