Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation
Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague（布拉格捷克理工大学电气工程学院控制论系）；Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague（布拉格捷克理工大学捷克信息学、机器人学与控制论研究所）
Karla Stepanova, Jakub Rozlivek, Frantisek Puciow, Pavel Krsek, Tomas Pajdla, Matej Hoffmann
备注：
25 pages, 29 figures
发表信息：
Robotics and Computer-Integrated Manufacturing 2022, Volume 73, 102250
We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimation of the end effector parameters, joint offsets of the manipulators, and calibration of the complete kinematic chain (DH parameters). The results are compared with ground truth measurements provided by a laser tracker. Our main findings are: (1) When applying the complementary calibration approaches in isolation, the self-contact approach yields the best and most stable results. (2) All combinations of more than one approach were always superior to using any single approach in terms of calibration errors and the observability of the estimated parameters. Combining more approaches delivers robot parameters that better generalize to the workspace parts not used for the calibration. (3) Sequential calibration, i.e. calibrating cameras first and then robot kinematics, is more effective than simultaneous calibration of all parameters. In real experiments, we employ two industrial manipulators mounted on a common base. The manipulators are equipped with force/torque sensors at their wrists, with two cameras attached to the robot base, and with special end effectors with fiducial markers. We collect a new comprehensive dataset for robot kinematic calibration and make it publicly available. The dataset and its analysis provide quantitative and qualitative insights that go beyond the specific manipulators used in this work and apply to self-contained robot kinematic calibration in general.
Most of industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. In this paper is proposed an accelerometer-based system to control an industrial robot using two low-cost and small 3-axis wireless accelerometers. These accelerometers are attached to the human arms, capturing its behavior (gestures and postures). An Artificial Neural Network (ANN) trained with a back-propagation algorithm was used to recognize arm gestures and postures, which then will be used as input in the control of the robot. The aim is that the robot starts the…
Design And Control of A Robotic Arm For Industrial Applications
CMR Technical Campus（CMR技术学院）；JNTUH University College of Engineering, Science & Technology Hyderabad（贾瓦哈拉尔·尼赫鲁科技大学海得拉巴工程科学与技术学院）；Holy Mary Institute of Technology（圣玛丽技术学院）
Chongqing University of Posts and Telecommunications（重庆邮电大学）；Swansea University（斯旺西大学）
Industrial robot arms are extensively important for intelligent manufacturing. An industrial robot arm commonly enjoys its high repetitive positioning accuracy while suffering from its low absolute positioning accuracy, which greatly restricts its application in high-precision manufacture, like automobile manufacture. Aiming at addressing this hot issue, this work proposes a novel robot arm calibration method based on cubic interpolated beetle antennae search (CIBAS). This study has three ideas: a) developing a novel CIBAS algorithm, which can effectively addresses the issue of local optimum i…
Competitive Task Allocation with Temporal Proposal Windows and Improved Artificial Potential Fields for Dual-Arm Industrial Manipulation
School of Mechanical and Materials Engineering, IIT Mandi（印度理工大学曼迪分校机械与材料工程学院）；R&D, Addverb Technologies Limited（Addverb科技有限公司研发部）；Centre for Artificial Intelligence and Robotics, IIT Mandi（印度理工大学曼迪分校人工智能与机器人中心）；R&D 4IR, Dubai Electricity & Water Authority（迪拜水电局第四次工业革命研发部）
Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；Karlsruhe University of Applied Sciences（卡尔斯鲁厄应用科学大学）
Industrial arms need to evolve beyond their standard shape to embrace new and emerging technologies. In this paper, we shall first perform an analysis of four popular but different modern industrial robot arms. By seeing the common trends we will try to extrapolate and expand these trends for the future. Here, particular focus will be on interaction based on augmented reality (AR) through head-mounted displays (HMD), but also through smartphones. Long-term human-robot interaction and personalization of said interaction will also be considered. The use of AR in human-robot interaction has prove…
Örebro University（厄勒布鲁大学）；Robert Bosch GmbH（罗伯特·博世有限公司）；University of Skövde（舍夫德大学）
Robots are increasingly deployed in spaces shared with humans, including home settings and industrial environments. In these environments, the interaction between humans and robots (HRI) is crucial for safety, legibility, and efficiency. A key factor in HRI is trust, which modulates the acceptance of the system. Anthropomorphism has been shown to modulate trust development in a robot, but robots in industrial environments are not usually anthropomorphic. We designed a simple interaction in an industrial environment in which an anthropomorphic mock driver (ARMoD) robot simulates to drive an aut…
Chongqing University of Posts and Telecommunications（重庆邮电大学）；Swansea University（斯旺西大学）
Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an powerful ensemble with various algorithms is proposed. This paper has two ideas: a) developing eight calibration methods to identify the kinematic parameter errors; 2) establishing an effective ensemble to search calibrated kinematic parameters. Enough experimental results show that this ensemble can achieve: 1) higher calibration accuracy for the robot; 2) model…
Imperial College London（伦敦帝国理工学院）；University of Pennsylvania（宾夕法尼亚大学）
Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object manipulation. Meanwhile, safety and efficiency are preliminary concerns for robotic dual-arm coordinated manipulation. Thus, the normally adopted fully automated task execution approaches based on environmental perception and motion planning techniques are still inadequate and problematic for the arduous twisting tasks. To this end, this paper presents a novel strate…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically coupled to a mobile manipulator to be assisted in performing daily activities. The previous interface was based on a magnetic clamp attached to one arm of the user for the coupling stage, and a bracelet based on EMG sensors on the other arm for human-robot communication via gestures. The new interface instead presents the following additions: i) An industri…
St. Joseph Engineering College（圣约瑟夫工程学院）；New Horizon College of Engineering（新视野工程学院）；N.M.A.M.I.T, Nitte（N.M.A.M. 理工学院，尼特）
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality products. Computer-based systems, though feasible for improving quality and productivity, are inflexible to work with, and the cost of such systems is significantly high. This led to the swift adoption of automated systems to perform industrial tasks. One such task of industrial significance is of picking and placing objects from one place to another. The impl…
Robots are widely used in industry due to their efficiency and high accuracy in performance. One of the most intriguing issues in manufacturing stage of production line is to minimize significantly high percentage of energy consumed by these robot manipulators. The energy optimal control of robotic manipulators is a complex problem, as it requires a deep understanding of the robot's kinematics and dynamic behaviors. This paper propose a novel method of energy efficient path planning of an industrial robot arm in a workspace with multiple obstacles using differential evolution (DE) algorithm. T…
Synchronized Dual-arm Rearrangement via Cooperative mTSP
National University of Defense Technology（国防科技大学）；Shenzhen University（深圳大学）；Xiangjiang Laboratory（湘江实验室）；Hunan University of Technology and Business（湖南工商大学）
Currently, robotics is one of the fastest growing areas not only in the industrial sector but also in the consumer and service sectors. Several areas benefit from the technological advancement of robotics, especially the industrial area those benefits from gains in productivity and quality. However, to supply this growing demand it is necessary for the newly graduated professionals to have a deeper understanding of how to design and control a robotic manipulator. It is logical that in order to obtain this more in-depth knowledge of robotics, it is necessary to have an experience with a real ro…
This paper presents an experimental adaptation of a non-collaborative robot arm to collaborate with the environment, as one step towards adapting legacy robotic machinery to fit in industry 4.0 requirements. A cloud-based internet of things (CIoT) service is employed to connect, supervise and control a robotic arm's motion using the added wireless sensing devices to the environment. A programmable automation controller (PAC) unit, connected to the robot arm receives the most recent changes and updates the motion of the robot arm. The experimental results show that the proposed non-expensive se…
University of Augsburg（奥格斯堡大学）；XITASO GmbH（XITASO有限公司）
This paper introduces two case studies combining the field of industrial robotics with Mixed Reality (MR). The goal of those case studies is to get a better understanding of how MR can be useful and what are the limitations. The first case study describes an approach to visualize the digital twin of a robot arm. The second case study aims at facilitating the commissioning of industrial robots. Furthermore, this paper reports the experiences gained by implementing those two scenarios and discusses the limitations.
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day operations entail various sources of errors that despite being small rapidly accumulate. This happens as tasks change and robots are re-programmed, often requiring time-consuming calibrations. These aspects strongly limit the application of collaborative robots in tasks demanding high precision (e.g. watch-making). We address this problem by relying on a dual-ar…
Austrian Research Institute for Artificial Intelligence（奥地利人工智能研究所）；Joanneum Research（乔安娜姆研究院）；Johannes Kepler University（约翰内斯·开普勒大学）
With increased applications of collaborative robots (cobots) in industrial workplaces, behavioural effects of human-cobot interactions need to be further investigated. This is of particular importance as nonverbal behaviours of collaboration partners in human-robot teams significantly influence the experience of the human interaction partners and the success of the collaborative task. During the Ars Electronica 2020 Festival for Art, Technology and Society (Linz, Austria), we invited visitors to exploratively interact with an industrial robot, exhibiting restricted interaction capabilities: ex…
Austrian Research Institute for Artificial Intelligence（奥地利人工智能研究所）；Johannes Kepler University（约翰·开普勒大学）；Polycular e.U.
In human-robot collaborative interaction scenarios, nonverbal communication plays an important role. Both, signals sent by a human collaborator need to be identified and interpreted by the robotic system, and the signals sent by the robot need to be identified and interpreted by the human. In this paper, we focus on the latter. We implemented on an industrial robot in a VR environment nonverbal behavior signalling the user that it is now their turn to proceed with a pick-and-place task. The signals were presented in four different test conditions: no signal, robot arm gesture, light signal, co…
Skolkovo Institute of Science and Technology（斯科尔科沃科学技术研究所）
Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from the camera installed on a robot arm or drone. As aerial manipulation requires delicate and precise motion of robot arm, the camera data delay, narrow field of view, and blurred images caused by drone dynamics can lead the UAV to crash. The paper focuses on the development of a novel teleoperation system for aerial manipulation using Virtual Reality (VR). Th…
University of Applied Science, Gelsenkirchen（盖尔森基兴应用科学大学）；German Rescue Robotic Centre, Dortmund（多特蒙德德国救援机器人中心）；Fire Department of Dortmund, Institute of Fire Service and Rescue Technology（多特蒙德消防局消防与救援技术研究所）
This technical report is about the mission and the experience gained during the reconnaissance of an industrial hall with hazardous substances after a major fire in Berlin. During this operation, only UAVs and cameras were used to obtain information about the site and the building. First, a geo-referenced 3D model of the building was created in order to plan the entry into the hall. Subsequently, the UAVs were used to fly in the heavily damaged interior and take pictures from inside of the hall. A 360° camera mounted under the UAV was used to collect images of the surrounding area especially f…
In order to safely and efficiently collaborate with humans, industrial robots need the ability to alter their motions quickly to react to sudden changes in the environment, such as an obstacle appearing across a planned trajectory. In Realtime Motion Planning, obstacles are detected in real time through a vision system, and new trajectories are planned with respect to the current positions of the obstacles, and immediately executed on the robot. Existing realtime motion planners, however, lack the smoothing post-processing step -- which are crucial in sampling-based motion planning -- resultin…
Neuromorphic force-control in an industrial task: validating energy and latency benefits
fortiss – Research Institute of the Free State of Bavaria（巴伐利亚自由州fortiss研究机构）；Robominds GmbH（Robominds有限公司）；ZHAW Zurich University of Applied Sciences（苏黎世应用科技大学（ZHAW））
本文将经强化学习训练的 SNN 力-力矩控制器部署于 Loihi 并控制 KUKA 机械臂完成工业插入任务，证明其延迟可比 CPU/GPU，且能耗较先进低功耗边缘硬件低一个数量级。
This paper presents a novel robot vision architecture for perceiving generic 3D clothes configurations. Our architecture is hierarchically structured, starting from low-level curvatures, across mid-level geometric shapes \& topology descriptions; and finally approaching high-level semantic surface structure descriptions. We demonstrate our robot vision architecture in a customised dual-arm industrial robot with our self-designed, off-the-self stereo vision system, carrying out autonomous grasping and dual-arm flattening. It is worth noting that the proposed dual-arm flattening approach is uniq…
Speech recognition is a prominent technology, which helps us to develop a Natural language interface through speech for the Human-Robot Interaction (HRI). It allows the computer to take the spoken instructions, interpret it, and generate text from it. In this paper, we propose a phoneme based speech recognition system to control industrial robots. Speech recognition has become one of the popular interfaces when it comes to reducing robot operator's efforts to control and command the robot. This paper intends to investigate the potential of Linear Predictive coding technique to develop a stable…
Bosch Center for Artificial Intelligence（博世人工智能中心）
Enabling robots to quickly learn manipulation skills is an important, yet challenging problem. Such manipulation skills should be flexible, e.g., be able adapt to the current workspace configuration. Furthermore, to accomplish complex manipulation tasks, robots should be able to sequence several skills and adapt them to changing situations. In this work, we propose a rapid robot skill-sequencing algorithm, where the skills are encoded by object-centric hidden semi-Markov models. The learned skill models can encode multimodal (temporal and spatial) trajectory distributions. This approach signif…
IRIS: Learning-Driven Task-Specific Cinema Robot Arm for Visuomotor Motion Control
Aerospace Eng. Department New York University（航空航天工程系 新 York 大学）；MIE Department University of Toronto（机械工程系 蒂姆斯大学）；ECE Department University of Toronto（电子与计算机工程系 蒂姆斯大学）
Rutgers, the State University of New Jersey（罗格斯新泽西州立大学）
Robotic pick-and-place (PnP) operations on moving conveyors find a wide range of industrial applications. In practice, simple greedy heuristics (e.g., prioritization based on the time to process a single object) are applied that achieve reasonable efficiency. We show analytically that, under a simplified telescoping robot model, these greedy approaches do not ensure time optimality of PnP operations. To address the shortcomings of classical solutions, we develop algorithms that compute optimal object picking sequences for a predetermined finite horizon. Employing dynamic programming techniques…
SPI-BoTER: Error Compensation for Industrial Robots via Sparse Attention Masking and Hybrid Loss with Spatial-Physical Information
School of Software（软件学院）；Northwestern Polytechnical University（西北工业大学）；School of Computer Science and Technology（计算机科学与技术学院）；University of Science and Technology of China（中国科学技术大学）；Suzhou Key Lab of Aerospace Industry Software and Data Science（苏州航空航天软件与数据科学重点实验室）；Yangtze River Delta Research Institute of NPU（南京航空航天大学长江三角洲研究院）
Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with obstacles or other robot arms. Commonly used sampling-based path planning approaches such as RRT require long computation times, especially in complex environments. Furthermore, the environment in which they are employed needs to be known beforehand. When utilizing the approaches in new environments, a tedious engineering effort in setting hyperparameters ne…
College of Engineering, University of Massachusetts Amherst（工程学院，马萨诸塞大学阿姆赫斯特分校）；College of Information and Computer Sciences, University of Massachusetts Amherst（信息与计算机科学学院，马萨诸塞大学阿姆赫斯特分校）
