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Meyer, Lukas und Strobl, Klaus H. und Triebel, Rudolph (2022) The Probabilistic Robot Kinematics Model and Its Application to Sensor Fusion. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022-10-23 - 2022-10-27, Kyoto, Japan. doi: 10.1109/IROS47612.2022.9981399. ISBN 978-166547927-1. ISSN 2153-0858.
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Offizielle URL: https://ieeexplore.ieee.org/document/9981399
Kurzfassung
Robots with elasticity in structural components can suffer from undesired end-effector positioning imprecision, which exceeds the accuracy requirements for successful manipulation. We present the Probabilistic-Product-Of-Exponentials robot model, a novel approach for kinematic modeling of robots. It does not only consider the robot's deterministic geometry but additionally models time-varying and configuration-dependent errors in a probabilistic way. Our robot model allows to propagate the errors along the kinematic chain and to compute their influence on the end-effector pose. We apply this model in the context of sensor fusion for manipulator pose correction for two different robotic systems. The results of a simulation study, as well as of an experiment, demonstrate that probabilistic configuration-dependent error modeling of the robot kinematics is crucial in improving pose estimation results.
| elib-URL des Eintrags: | https://elib.dlr.de/191928/ | ||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
| Titel: | The Probabilistic Robot Kinematics Model and Its Application to Sensor Fusion | ||||||||||||||||
| Autoren: |
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| Datum: | Oktober 2022 | ||||||||||||||||
| Erschienen in: | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 | ||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||
| Open Access: | Ja | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||
| DOI: | 10.1109/IROS47612.2022.9981399 | ||||||||||||||||
| ISSN: | 2153-0858 | ||||||||||||||||
| ISBN: | 978-166547927-1 | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | Perception for Grasping and Manipulation; Kinematics; Probability and Statistical Methods | ||||||||||||||||
| Veranstaltungstitel: | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
| Veranstaltungsort: | Kyoto, Japan | ||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
| Veranstaltungsbeginn: | 23 Oktober 2022 | ||||||||||||||||
| Veranstaltungsende: | 27 Oktober 2022 | ||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Planetare Exploration | ||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
| Hinterlegt von: | Burkhard, Lukas | ||||||||||||||||
| Hinterlegt am: | 08 Dez 2022 16:27 | ||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:53 |
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- The Probabilistic Robot Kinematics Model and Its Application to Sensor Fusion. (deposited 08 Dez 2022 16:27) [Gegenwärtig angezeigt]
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