کد مقاله کد نشریه سال انتشار مقاله انگلیسی ترجمه فارسی نسخه تمام متن
7121091 1461463 2018 21 صفحه PDF سفارش دهید دانلود رایگان
عنوان انگلیسی مقاله ISI
Calibration of mobile manipulators using 2D positional features
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موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Calibration of mobile manipulators using 2D positional features
چکیده انگلیسی
Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the efficiency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator and the AGV is often unknown. This paper provides a novel, simple, and low-cost method for calibrating and measuring the performance of mobile manipulators by using data collected from a laser retroreflector that digitally detects the horizontal two-dimensional (2D) position of reflectors on an artifact as well as a navigation system that provides the heading angle and 2D position of the AGV. The method is mathematically presented by providing a closed form solution to the positional component of the 2D robot-world/hand-eye calibration problem AX=YB. The method is then applied to simulated data as well as data collected in a laboratory setting and compared to other methods.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Measurement - Volume 124, August 2018, Pages 322-328
نویسندگان
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