Shah Mili, Bostelman Roger, Legowik Steven, Hong Tsai
Department of Mathematics and Statistics, Loyola University Maryland, 4501 North Charles Street, Baltimore, MD 21210, United States.
Intelligent Systems Division, National Institute of Standards and Technology, 100 Bureau Drive, Gaithersburg, MD 20899, United States.
Measurement (Lond). 2018;124. doi: 10.1016/j.measurement.2018.04.024.
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 robotworld/hand-eye calibration problem = . The method is then applied to simulated data as well as data collected in a laboratory setting and compared to other methods.
机器人操纵器越来越多地被安装在自动地面车辆（AGV）上，以提高制造系统的装配效率。然而，校准这些移动操纵器很困难，因为机器人操纵器和AGV之间的偏移量通常是未知的。本文提出了一种新颖、简单且低成本的方法，通过使用从激光后向反射器收集的数据来校准和测量移动操纵器的性能，该激光后向反射器以数字方式检测工件上反射器的水平二维（2D）位置，以及一个提供AGV航向角和2D位置的导航系统。该方法通过为二维机器人世界/手眼校准问题的位置分量提供封闭形式的解进行数学表述。然后将该方法应用于模拟数据以及在实验室环境中收集的数据，并与其他方法进行比较。
