Karla Štěpánová (1,2) and Jakub Rozlivek (1) presents Automatic self-contained calibration of an industrial robot

On 2022-02-10 11:00:00 at G205, Karlovo náměstí 13, Praha 2
During the seminar, we will present our work on automatic self-contained
calibration of an industrial dual-arm robot with cameras using self-contact,
planar constraints, and self-observation, described in this publication:

Stepanova, K.; Rozlivek, J.; Puciow, F.; Krsek, P.; Pajdla, T. & Hoffmann, M.
(2022), 'Automatic self-contained calibration of an industrial dual-arm robot
with cameras using self-contact, planar constraints, and self-observation',
Robotics and Computer-Integrated Manufacturing 73, 102250.
Link: https://doi.org/10.1016/j.rcim.2021.102250

We present a robot kinematic calibration method that combines complementary
calibration approaches: self-contact, planar constraints, and self-observation.
We analyze the estimation of the end effector parameters, joint offsets of the
manipulators, and calibration of the complete kinematic chain (DH parameters).
The results are compared with ground truth measurements provided by a laser
tracker. Our main findings are: (1) When applying the complementary
calibration approaches in isolation, the self-contact approach yields the best
and most stable results. (2) All combinations of more than one approach were
always superior to using any single approach in terms of calibration errors and
the observability of the estimated parameters. Combining more approaches
delivers robot parameters that better generalize to the workspace parts not
used for the calibration. (3) Sequential calibration, i.e. calibrating cameras
first and then robot kinematics, is more effective than simultaneous
calibration of all parameters. In real experiments, we employ two industrial
manipulators mounted on a common base. The manipulators are equipped with
force/torque sensors at their wrists, with two cameras attached to the robot
base, and with special end effectors with fiducial markers. We collect a new
comprehensive dataset for robot kinematic calibration and make it publicly
available. The dataset and its analysis provide quantitative and qualitative
insights that go beyond the specific manipulators used in this work and apply
to self-contained robot kinematic calibration in general.

Complementary video: https://youtu.be/LMwINqA1t9w

The seminar will be an in-depth one (40 min+20 discussion).
Responsible person: Petr Pošík