相关论文: A New Robot Arm Calibration Method Based on Cubic …
Beetle antennae search (BAS) is an efficient meta-heuristic algorithm. However, the convergent results of BAS rely heavily on the random beetle direction in every iterations. More specifically, different random seeds may cause different…
Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…
Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…
The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of…
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…
Researchers have identified various sources of tool positioning errors for articulated industrial robots and have proposed dedicated compensation strategies. However, these typically require individual, specialized experiments with separate…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
Within the context of intelligent manufacturing, industrial robots have a pivotal function. Nonetheless, extended operational periods cause a decline in their absolute positioning accuracy, preventing them from meeting high precision. To…
Traditional aggregate sorting methods, whether manual or mechanical, often suffer from low precision, limited flexibility, and poor adaptability to diverse material properties such as size, shape, and lithology. To address these…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
High-accuracy localization is a key enabler for integrated sensing and communication (ISAC), playing an essential role in various applications such as autonomous driving. Antenna arrays and reconfigurable intelligent surface (RIS) are…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
When arranging objects with robotic arms, the quality of the end result strongly depends on the achievable placement accuracy. However, even the most advanced robotic systems are prone to positioning errors that can occur at different steps…
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…
Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been…
The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design…
Automated bin-picking is a prerequisite for fully automated manufacturing and warehouses. To successfully pick an item from an unstructured bin the robot needs to first detect possible grasps for the objects, decide on the object to remove…