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Joint origin identification of articulated robots with marker-based multi-camera optical tracking systems

Figueroa, Nadia B. and Schmidt, Florian and Ali, Haider and Mavridis, Nikolaos (2013) Joint origin identification of articulated robots with marker-based multi-camera optical tracking systems. Robotics and Autonomous Systems, 61 (6), 580 - 592. Elsevier. doi: 10.1016/j.robot.2013.02.008. ISSN 0921-8890.

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Official URL: http://www.sciencedirect.com/science/article/pii/S0921889013000444

Abstract

Abstract Marker-based multi-camera optical tracking systems are being used in the robotics field to track robots for validation, verification, and calibration of their kinematic and dynamic models. These tracking systems estimate the pose of tracking bodies attached to objects within a tracking volume. In this work, we explore the case of tracking the origins of joints of articulated robots when the tracking bodies are mounted on limbs or structures relative to the joints. This configuration leads to an unknown relative pose between the tracking body and the joint origin. The identification of this relative pose is essential for an accurate representation of the kinematic model. We propose an approach for the identification of the origin of joints relative to tracking bodies by using state-of-the-art center of rotation (CoR) and axis of rotation (AoR) estimation methods. The applicability and effectiveness of our approach is demonstrated in two successful case studies: (i) the verification of the upper body kinematics of DLR's humanoid Rollin' Justin and (ii) the identification of the kinematic parameters of an {ST} Robot arm relative to its environment for the embodiment of a situated conversational assistant.

Item URL in elib:https://elib.dlr.de/97148/
Document Type:Article
Title:Joint origin identification of articulated robots with marker-based multi-camera optical tracking systems
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Figueroa, Nadia B.UNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schmidt, FlorianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ali, HaiderUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Mavridis, NikolaosUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:1 June 2013
Journal or Publication Title:Robotics and Autonomous Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:61
DOI:10.1016/j.robot.2013.02.008
Page Range:580 - 592
Publisher:Elsevier
ISSN:0921-8890
Status:Published
Keywords:Joint identification; Marker-based multi-camera optical tracking system; Calibration; Articulated robots
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Ali, Haider
Deposited On:09 Jul 2015 10:30
Last Modified:14 Jun 2023 16:58

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