Paper Info
Title
Automatic and hand guided self-registration between a robot and an optical tracking system
Abstract
In this paper an self-registration method for a robot with an optical tracking system (OTS) is presented. The ability of the used KUKA lightweight robot allows to perform the registration in hand guided mode or completely automatically. The hand guidance allows the user to register the robot with the tracking system in a very fast and intuitive way. He can take the robot by hand and move it and the registration is performed automatically. The mathematical goal is to find a rotation and translation to compute the pose of the robot base and end effector in terms of the coordinate system of the OTS. At each position the pose of the rigid body as well as the TCP of the robot is determined. Since the origin of the rigid body usually is different from the TCP a simple point-to-point transformation as e.g. provided by Horn [1, 2] is not suitable. The problem was reformulated to avoid this and solved with a modified Gauss Newton algorithm.
Year
Venue
Keywords
2009
ICAR: 2009 14TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, VOLS 1 AND 2
Surgical robotics,self calibration,optical tracking,laser osteotomy
Field
DocType
Citations 
Computer vision,Robot calibration,Robot kinematics,Tracking system,Robot end effector,Pose,Rigid body,Artificial intelligence,Engineering,Cartesian coordinate robot,Robot
Conference
4
PageRank 
References 
Authors
0.61
4
4
Name
Order
Citations
PageRank
Daniel Stein122517.59
Holger Mönnich2275.89
J. Raczkowsky3297.98
Heinz Worn4366.79