Paper Info
Title
SCALAR: Simultaneous Calibration of 2D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints.
Abstract
In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2-D laser range finder (LRF) attached to the robot’s flange. The calibration setup requires only a flat plate with two small holes carved on it at a known distance from each other and a sharp tool-tip attached to the robot’s flange. The calibration is formulated as a nonlinear optimization problem where the laser and the tool-tip are used to provide the planar and distance constraints, and the optimization problem is solved using the Levenberg–Marquardt algorithm. We demonstrate through experiments that SCALAR can reduce the mean and the maximum tool position error from 0.44 to 0.19 mm and from 1.41 to 0.50 mm, respectively. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners—</italic> Many industrial robotic applications require the robotic system to be calibrated in order to achieve the demanded accuracy. Unfortunately, the existing calibration processes are often cumbersome or require expensive measurement systems. This paper presents a novel calibration method to simultaneously calibrate a 6-DoF industrial robot and a 2-D laser scanner attached to the robot’s flange. The method only uses the data from the robot and the laser, so there is no need for external measurement systems. The laser scanner can also be used after the calibration for subsequent robot tasks such as scanning a workpiece to accurately determine its location. The calibration setup only requires a flat plane and a sharp tool-tip attached on the robot’s flange. The proposed method is easy to deploy and is more cost-effective than existing calibration methods.
Year
DOI
Venue
2019
10.1109/TASE.2019.2918141
IEEE Transactions on Automation Science and Engineering
Keywords
DocType
Volume
Robot kinematics,Calibration,Service robots,Measurement by laser beam,Kinematics,Cameras
Journal
abs/1905.07625
Issue
ISSN
Citations 
4
1545-5955
3
PageRank 
References 
Authors
0.39
0
3
Name
Order
Citations
PageRank
teguh santoso lembono192.73
Francisco Suarez-Ruiz271.86
Quang-Cuong Pham326725.38