TY - GEN
T1 - A Plane Based Method for Base Frame Calibration of Multirobot System
AU - Liang, Ge
AU - Liu, Wenhao
AU - Shi, Ran
AU - Yu, Yongqiang
AU - Lou, Yunjiang
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - For multirobot system, determining the relative position and orientation between each base frame is of great significance and is the basis for cooperative operation control. However, although the existing uncontact mode approach has high accuracy, the experiment equipment is expensive, while the contact mode approach requires strict experiments, and the raw data has large human errors. This paper proposes a plane based method for base frame calibration of multirobot, which uses stable and adjustable plane as experiment equipment to weaken geometric constraints. We only need the coordinates of the contact point between the robot and the plane to calculate the rotation matrix by plane fitting and principal component analysis, and then the translation can be calculated by least squares measurement. Finally, experiments on two 6-DOF industrial robots are performed to demonstrate the validity of the proposed method.
AB - For multirobot system, determining the relative position and orientation between each base frame is of great significance and is the basis for cooperative operation control. However, although the existing uncontact mode approach has high accuracy, the experiment equipment is expensive, while the contact mode approach requires strict experiments, and the raw data has large human errors. This paper proposes a plane based method for base frame calibration of multirobot, which uses stable and adjustable plane as experiment equipment to weaken geometric constraints. We only need the coordinates of the contact point between the robot and the plane to calculate the rotation matrix by plane fitting and principal component analysis, and then the translation can be calculated by least squares measurement. Finally, experiments on two 6-DOF industrial robots are performed to demonstrate the validity of the proposed method.
UR - https://www.scopus.com/pages/publications/85124808584
U2 - 10.1109/M2VIP49856.2021.9665025
DO - 10.1109/M2VIP49856.2021.9665025
M3 - 会议稿件
AN - SCOPUS:85124808584
T3 - 2021 27th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2021
SP - 570
EP - 575
BT - 2021 27th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 27th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2021
Y2 - 26 November 2021 through 28 November 2021
ER -