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The Probabilistic Robot Kinematics Model and Its Application to Sensor Fusion

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, 23-27 Oct 2022, 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/
Document Type:Conference or Workshop Item (Speech)
Title:The Probabilistic Robot Kinematics Model and Its Application to Sensor Fusion
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Meyer, LukasUNSPECIFIEDhttps://orcid.org/0000-0001-9514-8494
Strobl, Klaus H.UNSPECIFIEDhttps://orcid.org/0000-0001-8123-0606
Triebel, RudolphUNSPECIFIEDhttps://orcid.org/0000-0002-7975-036X
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:No
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 Dates:23-27 Oct 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: Meyer, Lukas
Deposited On:08 Dec 2022 16:27
Last Modified:26 Jan 2023 11:53

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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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