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Meyer, Lukas and Strobl, Klaus H. and 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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Official URL: https://ieeexplore.ieee.org/document/9981399
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/191928/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | The Probabilistic Robot Kinematics Model and Its Application to Sensor Fusion | ||||||||||||||||
| Authors: |
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| Date: | October 2022 | ||||||||||||||||
| Journal or Publication Title: | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||
| DOI: | 10.1109/IROS47612.2022.9981399 | ||||||||||||||||
| ISSN: | 2153-0858 | ||||||||||||||||
| ISBN: | 978-166547927-1 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | Perception for Grasping and Manipulation; Kinematics; Probability and Statistical Methods | ||||||||||||||||
| Event Title: | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
| Event Location: | Kyoto, Japan | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Start Date: | 23 October 2022 | ||||||||||||||||
| Event End Date: | 27 October 2022 | ||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||
| DLR - Research theme (Project): | R - Planetary Exploration | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||
| Deposited By: | Burkhard, Lukas | ||||||||||||||||
| Deposited On: | 08 Dec 2022 16:27 | ||||||||||||||||
| Last Modified: | 24 Apr 2024 20:53 |
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- The Probabilistic Robot Kinematics Model and Its Application to Sensor Fusion. (deposited 08 Dec 2022 16:27) [Currently Displayed]
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