RGB-Dセンサを用いたマニピュレータのためのオンラインSLAM統合機構キャリブレーション

抄録

Kinematic calibration of industrial manipulators is required for accurate work. Moreover, it is necessary to measure the environment around the manipulator for motion planning. However, it takes long time for kinematic calibration and measurement of the environment around the manipulator. We study SLAM-integrated kinematic calibration, which can simultaneously calibrate the kinematic parameters of an industrial manipulator and create a map of the environment around the manipulator. This method can perform efficient kinematic calibration and measurement of the environment around the manipulator. However, when errors occur in the kinematic parameters due to changes over time or accidents, it is necessary to stop the work and calibrate. In this paper, We eliminate the need to stop the work for calibration by performing SLAM-integrated kinematic calibration online during operation. The effectiveness was confirmed by verification in a virtual environment. Verification in the real environment revealed that there is a room for accuracy improvement.