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	Stereo vision based autonomous robot calibration
	Zhang, Xuanchen1,2; Song, Yuntao1,2; Yang, Yang1; Pan, Hongtao1,2
刊名	ROBOTICS AND AUTONOMOUS SYSTEMS
	2017-07-01
卷号	93页码:43-51
关键词	Autonomous Calibration Kinematic Calibration Stereo Vision Local Poe
DOI	10.1016/j.robot.2017.04.001
文献子类	Article
英文摘要	Robot calibration has been demonstrated to be a useful method to decrease the absolute positioning errors of a robot. Compared to the traditional calibration methods which require expensive external measurement devices, this paper proposes a stereo vision based self-calibration procedure which only needs a stereo camera mounted to a fixed location and a planar marker attached to the robot end-effector. The procedure consists of three consecutive steps: the automatic generation of target configurations and trajectories based on the nominal geometric models of the robot; a camera and obstacles, marker poses estimated by the two stage estimation algorithm; and the kinematic parameters identification based on a local product of exponential (local POE) formulized error model. The advantage of this self-calibration method is that the whole robot camera system can be calibrated without any manual intervention, which enables robot calibration to be completely online and suitable for the fast programming of the robot and computer vision combined work cell. A set of simulations and experiments on a UR5 robot demonstrate the convenience, efficiency and robustness of the proposed calibration procedure. (C) 2017 Elsevier B.V. All rights reserved.
WOS关键词	KINEMATIC CALIBRATION ; SELF-CALIBRATION ; EXPONENTIALS FORMULA ; STEWART PLATFORMS ; PARALLEL ROBOTS ; MANIPULATORS ; IDENTIFICATION ; ORIENTATION ; PRODUCT ; CAMERA
WOS研究方向	Automation & Control Systems ; Computer Science ; Robotics
语种	英语
WOS记录号	WOS:000403027600004
资助机构	China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; China National Magnetic Confinement Fusion Science Program(2014GB101003 ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004) ; 2014GB101004)
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/33441]
专题	合肥物质科学研究院_中科院等离子体物理研究所
作者单位	1.Chinese Acad Sci, Inst Plasma Phys, 350 Shushanhu Rd, Hefei, Anhui, Peoples R China 2.Univ Sci & Technol China, Hefei 230022, Anhui, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Xuanchen,Song, Yuntao,Yang, Yang,et al. Stereo vision based autonomous robot calibration[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2017,93:43-51.
APA	Zhang, Xuanchen,Song, Yuntao,Yang, Yang,&Pan, Hongtao.(2017).Stereo vision based autonomous robot calibration.ROBOTICS AND AUTONOMOUS SYSTEMS,93,43-51.
MLA	Zhang, Xuanchen,et al."Stereo vision based autonomous robot calibration".ROBOTICS AND AUTONOMOUS SYSTEMS 93(2017):43-51.

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