SKCLAM: A Method of Simultaneous Kinematic Calibration and 3D Reconstruction for Industrial Manipulators

抄録

Nowadays, industrial robot manipulator plays a key role in the industry. However, the manipulator will produce kinematic errors during operation. Traditional methods require expensive equipment with complex steps to calibrate kinematic parameters. In order to employ an efficient way to accomplish kinematic calibration and offer convenience to plan the motions of the manipulator, a new method is considered. The method is called SKCLAM (Simultaneous Kinematic Calibration, Localization, and Mapping), which can simultaneously calibrate the kinematic parameters of an industrial manipulator and reconstruct the 3D environment of its surroundings using an RGB-D camera attached to its end effector. In this paper, the true kinematic parameters were changed randomly to test and evaluate the robustness of our approach in virtual environments.