Simultaneous Calibration of Multicoordinates for a Dual-Robot System by Solving the AXB = YCZ Problem

Multirobot systems have shown great potential in dealing with complicated tasks that are impossible for a single robot to achieve. One essential problem encountered in cooperatively working of the multirobot systems is the unknown initial transformation relationships from hand to eye, base to base,...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on robotics 2021-08, Vol.37 (4), p.1172-1185
Main Authors: Wang, Gang, Li, Wen-long, Jiang, Cheng, Zhu, Da-hu, Xie, He, Liu, Xing-jian, Ding, Han
Format: Article
Language:English
Subjects:
AXB = YCZ
Calibration
calibration and identification
Closed form solutions
dual arm manipulation
Exact solutions
Iterative methods
Kinematics
Mathematical analysis
Multi-robot systems
Multiple robots
multirobot systems
Operators (mathematics)
Optimization
Probabilistic logic
Robot sensing systems
Robots
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Multirobot systems have shown great potential in dealing with complicated tasks that are impossible for a single robot to achieve. One essential problem encountered in cooperatively working of the multirobot systems is the unknown initial transformation relationships from hand to eye, base to base, and flange to tool. In this article, the problem of multicoordinates calibration for a dual-robot system is formulated to a matrix equation AXB = YCZ . A novel approach for simultaneously solving the unknowns in equation AXB = YCZ is proposed, which is composed of a closed form method based on the Kronecker product and an iterative method which converts the calculation of a nonlinear problem to an optimization problem of a strictly convex function. The closed form method is used to quickly obtain an initial estimation for the iterative method to improve the efficiency and accuracy of iteration. In addition, a series of conditions on the solvability of the problem are proposed to guide the operators to select appropriate robot attitudes during the calibration process. To show the feasibility and superiority of the proposed iterative method, two other calibration methods are chosen to be compared to the proposed method through simulation and practical experiments. The comparison results verify the superiority of the proposed method in accuracy, efficiency, and stability.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2020.3043688