Abstract
A precise geometric calibration between the subsystems of a robotic system is crucial for its usage and applicability. As mobile robots are already being used in industry and households, the interest in mobile manipulators rises, and the calibration procedures between manipulators and the robot’s exteroceptive sensors becomes necessary. Nevertheless, state-of-the-art calibration procedures between a manipulator and a 2D laser scanner often require complex calibration targets or additional sensors for calibration. As a consequence the practical usage in an industrial context is limited. For this reason, we propose a simple but effective approach for determining the transformation between a manipulator and a 2D laser scanner. The transformation is solved for six degrees of freedom using a 1D calibration target. In this paper, the modeling of the original approach presented in [1] is extended to decrease the number of restrictions. Therefore, the objective function was improved leading to better optimization results and the methodology of the proposed approach is presented in more detail. Moreover, additional experiments are carried out to evaluate the accuracy of the extended calibration procedure. The effect of different calibration trajectories and calibration target’s geometries is evaluated additionally.
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Alberts, J., Kleinschmidt, S.P., Wagner, B. (2021). 6-DoF Extrinsic Calibration Between a Manipulator and a 2D Laser Scanner. In: Gusikhin, O., Madani, K., Zaytoon, J. (eds) Informatics in Control, Automation and Robotics. ICINCO 2019. Lecture Notes in Electrical Engineering, vol 720. Springer, Cham. https://doi.org/10.1007/978-3-030-63193-2_4
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DOI: https://doi.org/10.1007/978-3-030-63193-2_4
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