Simultaneously Calibration of Multi HandEye Robot System Based on Graph

doi:10.1109/TIE.2023.3283693

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	Simultaneously Calibration of Multi HandEye Robot System Based on Graph
	Zhou, Zishun 1,2; Ma, Liping 3,4; Liu, Xilong 3,4; Cao, Zhiqiang 3,4; Yu, Junzhi 5
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2024-05-01
卷号	71 期号:5 页码:5010-5020
关键词	Calibration error correction graph theory multirobot systems robot vision systems
ISSN号	0278-0046
DOI	10.1109/TIE.2023.3283693
通讯作者	Ma, Liping(liping.ma@ia.ac.cn)
英文摘要	Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multieyes (cameras) and multihands (robots) are particularly sensitive to calibration errors. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the pose between each unit, but the serialized incremental calibration strategy cannot avoid the error accumulation problem in a large-scale system. Instead of focusing on a single unit, this article models the multieye and multihand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization with different sensor's accuracy considered. As a general calibration method, it can be applied to different multirobot systems. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method.
资助项目	National Natural Science Foundation of China[61973302] ; National Defense Basic Research Program Key Projects[JCKY2020208B027] ; CIE-Tencent Robotics X Rhino-Bird Focused Research Program[2022-07] ; Beijing Natural Science Foundation[2022MQ05]
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:001129829900064
资助机构	National Natural Science Foundation of China ; National Defense Basic Research Program Key Projects ; CIE-Tencent Robotics X Rhino-Bird Focused Research Program ; Beijing Natural Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/54786]
专题	多模态人工智能系统全国重点实验室
通讯作者	Ma, Liping
作者单位	1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Australian Natl Univ, Coll Engn Comp & Cybernet, Canberra, ACT 2601, Australia 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 5.Peking Univ, Coll Engn, Dept Adv Mfg & Robot BIC ESAT, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
推荐引用方式 GB/T 7714	Zhou, Zishun,Ma, Liping,Liu, Xilong,et al. Simultaneously Calibration of Multi HandEye Robot System Based on Graph[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2024,71(5):5010-5020.
APA	Zhou, Zishun,Ma, Liping,Liu, Xilong,Cao, Zhiqiang,&Yu, Junzhi.(2024).Simultaneously Calibration of Multi HandEye Robot System Based on Graph.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,71(5),5010-5020.
MLA	Zhou, Zishun,et al."Simultaneously Calibration of Multi HandEye Robot System Based on Graph".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 71.5(2024):5010-5020.