Knowledge Commons of Institute of Automation,CAS
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 | |
发表期刊 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS |
ISSN | 0278-0046 |
2023-05-01 | |
卷号 | 71期号:5页码:5010-5020 |
通讯作者 | Ma, Liping(liping.ma@ia.ac.cn) |
摘要 | Precise 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. |
关键词 | Calibration error correction graph theory multirobot systems robot vision systems. |
DOI | 10.1109/TIE.2023.3283693 |
关键词[WOS] | CAMERA ; MODEL ; POSE |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National 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] |
项目资助者 | National 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研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
WOS类目 | Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation |
WOS记录号 | WOS:001129090300044 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/55389 |
专题 | 中国科学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 |
通讯作者 | Ma, Liping |
作者单位 | 1.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 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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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