U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

PUBLICATIONS

Sensor Calibration and Registration for Mobile Manipulators

Published

Author(s)

Steven Legowik, Roger V. Bostelman, Tsai H. Hong

Abstract

This paper describes the methods used to register a mobile manipulator to a workstation to perform assembly tasks. The nonlinear, least square model of the system is formulated and Ceres Solver[1] is used to compute the position of the robot arm relative to the mobile base. The use of non-contact fiducials to test the accuracy and repeatability of the mobile manipulator positioning in the context of an assembly operation is also discussed.
Proceedings Title
The Fifth International Conference on Advances in Vehicular Systems, Technologies and Applications (VEHICULAR 2016)
Conference Dates
November 13-17, 2016
Conference Location
Barcelona, ES
Pub Type
Conferences

Download Paper

Local Download

Keywords

robot, AGV, mobile manipulator, collaborative robotics, registration, Ceres Solver, calibration
Robotics in manufacturing, Manufacturing systems design and analysis and Manufacturing

Citation

Legowik, S. , Bostelman, R. and Hong, T. (2016), Sensor Calibration and Registration for Mobile Manipulators, The Fifth International Conference on Advances in Vehicular Systems, Technologies and Applications (VEHICULAR 2016), Barcelona, ES, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=921474 (Accessed December 15, 2024)

Issues

If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.

Created November 16, 2016, Updated April 6, 2022