A mobile manipulator uses marker detection and hand-eye calibration to compensate for the performance limitation of position estimation during pick-and-place tasks. However, even if these methods are applied, an error occurs due to the limitation of camera calibration, so it is not easy to place the object in the correct position. To solve this problem, this study proposes a system that enables the manipulator to move to the correct target position based on the relationship between the estimated marker position and the motion displacement of the end-effector of the manipulator. First, the relative position between the end-effector frame and the camera frame is accurately estimated to reduce errors that occur when moving the manipulator based on the camera frame. Then, a model is built between the estimated marker position and the actual one, and the manipulator is moved to the correct position by obtaining the displacement of the manipulator according to the estimated marker position. Experiments have shown that the proposed system has a small error of less than 0.5 mm and allows the mobile manipulator to place objects in the correct position.
|Title of host publication||2021 18th International Conference on Ubiquitous Robots, UR 2021|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||5|
|Publication status||Published - 2021 Jul 12|
|Event||18th International Conference on Ubiquitous Robots, UR 2021 - Gangneung-si, Gangwon-do, Korea, Republic of|
Duration: 2021 Jul 12 → 2021 Jul 14
|Name||2021 18th International Conference on Ubiquitous Robots, UR 2021|
|Conference||18th International Conference on Ubiquitous Robots, UR 2021|
|Country/Territory||Korea, Republic of|
|Period||21/7/12 → 21/7/14|
Bibliographical noteFunding Information:
* Research supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20008613) Hae-Chang Kim is with the School of Mechanical Engineering, Korea University, Seoul, Korea (e-mail: email@example.com). In-Hwan Yoon is with the Dept. of Mechatronics, Korea University, Seoul, Korea (e-mail: firstname.lastname@example.org). Jae-Bok Song, the corresponding author and a senior member of IEEE, is with the School of Mechanical Engineering, Korea University, Seoul, Korea (tel: +82 2 3290 3363; fax: +82 2 3290 3757; e-mail: email@example.com).
This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20008613).
© 2021 IEEE.
ASJC Scopus subject areas
- Biomedical Engineering
- Mechanical Engineering
- Control and Optimization
- Artificial Intelligence