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Sensor Calibration and Registration for Mobile Manipulators

Authors:
Steven Legowik
Roger Bostelman
Tsai Hong

Keywords: robot; AGV; mobile manipulator; collaborative robotics; registration; Ceres Solver; calibration

Abstract:
This paper describes the methods used to register a mobile manipulator to a workstation to perform assembly tasks. The nonlinear, least square model of the system is formulated and Ceres Solver is used to compute the position of the robot arm relative to the mobile base. The use of non-contact fiducials to test the accuracy and repeatability of the mobile manipulator positioning in the context of an assembly operation is also discussed. Using mathematical methods and indirect measurements it is possible to compute the offset between physical components of the system where direct measurement is not feasible.

Pages: 9 to 15

Copyright: Copyright (c) The Government of USA, 2016. Used by permission to IARIA.

Publication date: November 13, 2016

Published in: conference

ISSN: 2327-2058

ISBN: 978-1-61208-515-9

Location: Barcelona, Spain

Dates: from November 13, 2016 to November 17, 2016