The position/Orientation determination of a mobile-task robot using an active calibration scheme |
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Authors: | Email author" target="_blank">Tae-Seok?JinEmail author Jang-Myung?Lee |
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Affiliation: | (1) Department of Electronics Engineering, Pusan National University, 609-735 Pusan, Korea |
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Abstract: | A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility
of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot.
To be an efficient and precise mobile-task robot, the control uncertainties in the mobile robot should be resolved. Unless
the mobile robot provides an accurate and stable base, the task robot cannot perform various tasks. For the control of the
mobile robot, an absolute position sensor is necessary. However, on account of rolling and slippage of wheels on the ground,
there does not exist any reliable position sensor for the mobile robot. This paper proposes an active calibration scheme to
estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose
of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a
priori. For this calibration, a camera is attached on the top of the task robot to capture the images of the objects. These
images are used to estimate the pose of the camera itself with respect to the known objects. Through the homogeneous transformation,
the absolute position/orientation of the camera is calculated and propagated to get the pose of a mobile robot. Two types
of objects are used here as samples of work-pieces : a polygonal and a cylindrical object. With these two samples, the proposed
active calibration scheme is verified experimentally. |
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Keywords: | Active Calibration Mobile Manipulator Mobile-Task Robot Camera Line Correspondence Conic Correspondence |
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