International Journal of Automation Technology
Online ISSN : 1883-8022
Print ISSN : 1881-7629
ISSN-L : 1881-7629
Special Issue on Advanced Image Processing Techniques for Robotics and Automation (Part 1)
Visual-Based Joint Compliance Calibration Using Measurement Pose Optimization
Xiaotian Zhang Yusheng WangShouhei ShirafujiNaoya KagawaNoritaka TakamuraKeiji OkuharaHiroyasu BabaJun Ota
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JOURNAL OPEN ACCESS

2025 Volume 19 Issue 3 Pages 204-215

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Abstract

Accurate calibration of robot joint compliance poses a significant challenge with limited existing research. For camera-based calibration, concurrently identifying both joint offsets and compliance errors becomes intricate due to measurement inaccuracies. To overcome this problem, this paper proposes an innovative approach that leverages measurement pose optimization. By leveraging the local product of exponentials (POE) model, our method enables the simultaneous identification of the geometric parameters (joint offsets) and non-geometric parameters (joint compliance). The introduction of a modified visual observability index minimizes sensitivity to camera errors during joint compliance calibration. Experimental results conducted on a 6R serial robot show superior accuracy compared to existing indices, validating the effectiveness of our approach.

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