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Qin Y, Geng P, Lv B, Meng Y, Song Z, Han J. Simultaneous Calibration of the Hand-Eye, Flange-Tool and Robot-Robot Relationship in Dual-Robot Collaboration Systems. SENSORS (BASEL, SWITZERLAND) 2022; 22:1861. [PMID: 35271007 PMCID: PMC8915100 DOI: 10.3390/s22051861] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 02/02/2022] [Revised: 02/13/2022] [Accepted: 02/21/2022] [Indexed: 06/14/2023]
Abstract
A multi-robot collaboration system can complete more complex tasks than a single robot system. Ensuring the calibration accuracy between robots in the system is a prerequisite for the effective inter-robot cooperation. This paper presents a dual-robot system for orthopedic surgeries, where the relationships between hand-eye, flange-tool, and robot-robot need to be calibrated. This calibration problem can be summarized to the solution of the matrix equation of AXB=YCZ. A combined solution is proposed to solve the unknown parameters in the equation of AXB=YCZ, which consists of the dual quaternion closed-form method and the iterative method based on Levenberg-Marquardt (LM) algorithm. The closed-form method is used to quickly obtain the initial value for the iterative method so as to increase the convergence speed and calibration accuracy of the iterative method. Simulation and experimental analyses are carried out to verify the accuracy and effectiveness of the proposed method.
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Affiliation(s)
- Yanding Qin
- Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China; (P.G.); (B.L.); (Y.M.); (Z.S.); (J.H.)
- Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China
| | - Pengxiu Geng
- Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China; (P.G.); (B.L.); (Y.M.); (Z.S.); (J.H.)
- Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China
| | - Bowen Lv
- Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China; (P.G.); (B.L.); (Y.M.); (Z.S.); (J.H.)
- Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China
| | - Yiyang Meng
- Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China; (P.G.); (B.L.); (Y.M.); (Z.S.); (J.H.)
- Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China
| | - Zhichao Song
- Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China; (P.G.); (B.L.); (Y.M.); (Z.S.); (J.H.)
- Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China
| | - Jianda Han
- Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China; (P.G.); (B.L.); (Y.M.); (Z.S.); (J.H.)
- Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China
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Wang G, Li WL, Jiang C, Zhu DH, Xie H, Liu XJ, Ding H. Simultaneous Calibration of Multicoordinates for a Dual-Robot System by Solving the AXB = YCZ Problem. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2020.3043688] [Citation(s) in RCA: 29] [Impact Index Per Article: 9.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Ma Q, Goh Z, Ruan S, Chirikjian GS. Probabilistic approaches to the $$ AXB = YCZ $$ calibration problem in multi-robot systems. Auton Robots 2018. [DOI: 10.1007/s10514-018-9744-3] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
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