Target position estimation for pick-and-place tasks using a mobile manipulator

Hae Chang Kim; In Hwan Yoon; Jae Bok Song

doi:10.1109/UR52253.2021.9494680

Target position estimation for pick-and-place tasks using a mobile manipulator

Hae Chang Kim, In Hwan Yoon, Jae Bok Song

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English
Title of host publication	2021 18th International Conference on Ubiquitous Robots, UR 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	494-498
Number of pages	5
ISBN (Electronic)	9781665438995
DOIs	https://doi.org/10.1109/UR52253.2021.9494680
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

Publication series

Name	2021 18th International Conference on Ubiquitous Robots, UR 2021

Conference

Conference	18th International Conference on Ubiquitous Robots, UR 2021
Country/Territory	Korea, Republic of
City	Gangneung-si, Gangwon-do
Period	21/7/12 → 21/7/14

Bibliographical note

Funding 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: bluesky1463@korea.ac.kr). In-Hwan Yoon is with the Dept. of Mechatronics, Korea University, Seoul, Korea (e-mail: inhwan94@korea.ac.kr). 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: jbsong@korea.ac.kr).

Funding Information:
This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20008613).

Publisher Copyright:
© 2021 IEEE.

ASJC Scopus subject areas

Biomedical Engineering
Mechanical Engineering
Control and Optimization
Artificial Intelligence

Access to Document

10.1109/UR52253.2021.9494680

Cite this

Kim, H. C., Yoon, I. H., & Song, J. B. (2021). Target position estimation for pick-and-place tasks using a mobile manipulator. In 2021 18th International Conference on Ubiquitous Robots, UR 2021 (pp. 494-498). Article 9494680 (2021 18th International Conference on Ubiquitous Robots, UR 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/UR52253.2021.9494680

Target position estimation for pick-and-place tasks using a mobile manipulator. / Kim, Hae Chang; Yoon, In Hwan; Song, Jae Bok.
2021 18th International Conference on Ubiquitous Robots, UR 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 494-498 9494680 (2021 18th International Conference on Ubiquitous Robots, UR 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, HC, Yoon, IH & Song, JB 2021, Target position estimation for pick-and-place tasks using a mobile manipulator. in 2021 18th International Conference on Ubiquitous Robots, UR 2021., 9494680, 2021 18th International Conference on Ubiquitous Robots, UR 2021, Institute of Electrical and Electronics Engineers Inc., pp. 494-498, 18th International Conference on Ubiquitous Robots, UR 2021, Gangneung-si, Gangwon-do, Korea, Republic of, 21/7/12. https://doi.org/10.1109/UR52253.2021.9494680

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abstract = "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.",

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note = "Funding 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: bluesky1463@korea.ac.kr). In-Hwan Yoon is with the Dept. of Mechatronics, Korea University, Seoul, Korea (e-mail: inhwan94@korea.ac.kr). 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: jbsong@korea.ac.kr). Funding Information: This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20008613). Publisher Copyright: {\textcopyright} 2021 IEEE.; 18th International Conference on Ubiquitous Robots, UR 2021 ; Conference date: 12-07-2021 Through 14-07-2021",

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N2 - 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.

AB - 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.

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Target position estimation for pick-and-place tasks using a mobile manipulator

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

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