High Precision Calibration for Three-Dimensional Vision-Guided Robot System

doi:10.1109/TIE.2022.3152026

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	High Precision Calibration for Three-Dimensional Vision-Guided Robot System
	Liu, Zhicheng 2,3; Liu, Xilong 2,3; Cao, Zhiqiang 2,3; Gong, Xurong 2,3; Tan, Min 2,3; Yu, Junzhi 1
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2023
卷号	70 期号:1 页码:624-634
关键词	Robots Calibration Robot kinematics Mathematical models End effectors Cameras Robot vision systems Calibration error correction matrix unified model vision-guided robot
ISSN号	0278-0046
DOI	10.1109/TIE.2022.3152026
通讯作者	Liu, Xilong(xilong.liu@ia.ac.cn)
英文摘要	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.
资助项目	National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[62073322] ; National Key R&D Program of China[2019YFB1311100]
WOS关键词	PARAMETERS ; IDENTIFICATION ; ACCURATE ; WORLD
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000845325500060
资助机构	National Natural Science Foundation of China ; National Key R&D Program of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/50047]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Liu, Xilong
作者单位	1.Peking Univ, BIC ESAT Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 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.