産業用マニピュレータのための全天球カメラを用いた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 desirable to measure the environment around the manipulator for collision avoidance. However, it takes long time for kinematic calibration and measurement of the environment around the manipulator. In our research group, 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. Since RGB-D cameras are used in our previous method, there are restrictions on how to move the manipulator in calibration. In this paper, the restriction is relaxed by performing the SLAM-integrated kinematic calibration using spherical cameras. The new method is tested on a virtual environment.