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Simultaneous kinematic calibration, localization, and mapping (SKCLAM) for industrial robot manipulators
http://hdl.handle.net/10131/00012909
http://hdl.handle.net/10131/00012909a3fc57be-7c3d-47e6-8eaf-46a83dfb3852
名前 / ファイル | ライセンス | アクション |
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AR_manuscript_V3.pdf (12.1 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2020-02-18 | |||||
タイトル | ||||||
タイトル | Simultaneous kinematic calibration, localization, and mapping (SKCLAM) for industrial robot manipulators | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題 | Industrial robot manipulators, kinematic calibration, 3D reconstruction, RGB-D cameras, visual SLAM | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Li, Jinghui
× Li, Jinghui× Ito, Akitoshi× Yaguchi, Hiroyuki× Maeda, Yusuke |
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著者所属 | ||||||
Department of Mechanical Engineering, Materials Science, and Ocean Engineering , Graduate school of Engineering Science, Yokohama National University, Yokohama, Japan | ||||||
著者所属 | ||||||
Department of Mechanical Engineering, Materials Science, and Ocean Engineering , Graduate school of Engineering Science, Yokohama National University, Yokohama, Japan | ||||||
著者所属 | ||||||
Department of System Integration, Graduate school of Engineering, Yokohama National University, Yokohama, Japan | ||||||
著者所属 | ||||||
Division of Systems Research, Faculty of Engineering, Yokohama National University, Yokohama, Japan | ||||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | Recently, the demand for more accurate, productive, and economical robot manipulators is increasing in the robotics industry. However, a manipulator will produce kinematic errors during production. Thus low-cost kinematic calibration is demanded. Moreover, environmental mapping is also demanded to plan the motions of the manipulator. In this paper, we proposed a simultaneous kinematic calibration, localization, and mapping (SKCLAM) method, which can simultaneously calibrate the kinematic parameters of an industrial robot manipulator using a commercial RGB-D camera attached to its end effector to reconstruct its surroundings. In our method, the kinematic calibration is achieved with feature detection and epipolor geometry. Synthetic and real data experiments were conducted to verify the SKCLAM method. We succeeded in reducing the kinematic errors of the manipulator and reconstructing dense 3D maps of the workspace in the experiments. | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 14th, Nov, 2019, available online: http://www.tandfonline.com/10.1080/01691864.2019.1689166. | |||||
書誌情報 |
Advanced Robotics 巻 33, 号 23, p. 1225-1234, 発行日 2019-11-14 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 15685535 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1080/01691864.2019.1689166 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
出版者 | ||||||
出版者 | Taylor & Francis |