Identification of robot kinematic errors during the calibration process often requires accurate full pose measurements (position and orientation) of robot end-effectors in Cartesian space. This paper proposes a new method of full pose measurement of...
Accurate measurement of robotic pose is indispensable for large-scale precision manufacturing and robotic calibration, particularly because traditional robotic kinematic models often fall short owing to environmental disturbances and structural uncer...
Currently, simultaneous localization and mapping (SLAM) is one of the main research topics in the robotics field. Visual-inertia SLAM, which consists of a camera and an inertial measurement unit (IMU), can significantly improve robustness and enable...
The kinematics parameter error is the main error factor that affects the absolute accuracy of industrial robots. The absolute accuracy of industrial robots can be effectively improved through kinematics calibration. The error model-based method is on...
To ensure smooth robot operations, parameters of its kinematic model and a registration transformation between robot base and world coordinate frame must be determined. Both tasks require data acquired by external sensors that can measure either 3D l...
The performance of marker-based, six degrees of freedom (6DOF) pose measuring systems is investigated. For instruments in this class, the pose is derived from locations of a few three-dimensional (3D) points. For such configurations to be used, the r...
An improvement method for the pose accuracy of a robot manipulator by using a multiple-sensor combination measuring system (MCMS) is presented. It is composed of a visual sensor, an angle sensor and a series robot. The visual sensor is utilized to me...
This paper proposes a moving-target tracking algorithm that measures the pose of a micro-robot with high precision and high speed using the Kalman filter-based kernelized correlation filter (K2CF) algorithm. The adaptive Kalman filter can predict the...
In this study, a manipulator calibration algorithm is suggested to decrease the positional errors of an industrial robotic manipulator using a genetic algorithm to select optimal measurement poses. First, a genetic algorithm based on the observabilit...
Repeatability accuracy is a key performance metric for robotic arms. To address limitations in existing monocular vision-based measurement methods, this study proposes a likelihood-based pose estimation approach. Our method first obtains initial pose...
Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In th...
The vision-based robot pose estimation and mapping system has the disadvantage of low pose estimation accuracy and poor local detail mapping effects, while the modeling environment has poor features, high dynamics, weak light, and multiple shadows, a...
The use of industrial and collaborative robots in tasks requiring high precision places increasing demands on the evaluation of their performance. In practice, parameters such as positioning accuracy, repeatability and stability are typically assesse...
We envision a telepresence system that enhances remote work by facilitating both physical and immersive visual interactions between individuals. However, during robot teleoperation, communication often lacks realism, as users see the robot’s bo...
This paper presents a robust method based on graph topology to find the topologically correct and consistent subset of inter-robot relative pose measurements for multi-robot map fusion. However, the absence of good prior on relative pose gives a seve...
In multi-robot simultaneous localization and mapping (SLAM) systems, the system must create a consistent global map with multiple local maps and loop closures between robot poses. However, false-positive loop closures caused by perceptual aliasing ca...
One of the most fundamental tasks for robots inspecting water distribution pipes is localization, which allows for autonomous navigation, for faults to be communicated, and for interventions to be instigated. Pose-graph optimization using spatially v...
Monocular visual measurement and vision-guided robotics technology find extensive application in modern automated manufacturing, particularly in aerospace assembly. However, during assembly pose measurement and guidance, the propagation and accumulat...
With the progress and development of AI technology and industrial automation technology, AI robot dogs are widely used in engineering practice to replace human beings in high-precision and tedious industrial operations. Bionic robots easily produce c...
This article presents a 2D pose estimation method for an omnidirectional mobile robot with Mecanum wheels, using an extended Kalman filter (EKF) formulated on the Lie group
A simple and effective method for camera positioning and alignment control for robotic pick-and-place tasks is described here. A parallelogram feature is encoded into each 3D object or target location. To determine the pose of each part and guide the...
The autonomous navigation of mobile robots contains three parts: map building, global localization, and path planning. Precise pose data directly affect the accuracy of global localization. However, the cumulative error problems of sensors and variou...
Pose accuracy is one of the most important problems in the application of parallel robots. In order to adhere to strict pose error bounds, a new kinematic calibration method is proposed, which includes a new pose error model with 60 error parameters...
The present paper describes the measurement of the drift of unidirectional pose accuracy, repeatability, and static compliance of a collaborative robot employing a measurement methodology that relies on the description of a virtual ISO cube placed in...
Indoor mobile robots often experience degraded localization accuracy and robustness when relying on a single positioning modality. In addition, conventional pose computation based on Euler-parameterized transformations can be computationally involved...
The visual measurement system plays a vital role in the disc cutter changing robot of the shield machine, and its accuracy directly determines the success rate of the disc cutter grasping. However, the actual industrial environment with strong noise...
Image-based 3D reconstruction enables robot-assisted interventions and image-guided navigation, which are emerging technologies in laparoscopy. When a robotic arm guides a laparoscope for image acquisition, hand–eye calibration is required to k...
This paper presents the design and implementation of a collaborative robotic manipulator for vision-guided traffic cone collection. The system operates within a ROS2-based framework and utilizes object position data provided by a YOLO-based vision su...
Assistance and rehabilitation robotic platforms must have precise sensory systems for human–robot interaction. Therefore, human pose estimation is a current topic of research, especially for the safety of human–robot collaboration and the evaluation...
This short note addresses the problem of autonomous on-line path-panning for exploration and occupancy-grid mapping using a mobile robot. The underlying algorithm for simultaneous localisation and mapping (SLAM) is based on random-finite set (RFS) mo...
Robots are being used in many areas. The robot performance constraints are repeatability and accuracy. Standardized testing and evaluation techniques are needed to examine the process capability of a wide variety of robots. Robot calibration is a ter...
With the increasing demand for robots to react and adapt to unforeseen events, it is essential that a robot preserves agility at all times. While manipulability is a common measure to quantify agility at a given joint configuration, an efficient dire...
Robotic bin-picking of disordered, randomly stacked workpieces remains challenging because reliable grasping depends on an accurate estimate of object pose, yet many established solutions require high-precision 3D sensing, detailed object models, or...
Tool frame calibration has been widely used in robot-assisted printing, welding, and grinding, but it is not suitable for ultrasonic testing because the robot is submerged in water. The purpose of this paper is to present a tool frame calibration met...
To address the practical navigation issues of rubber-tapping robots, this paper proposes an active navigation system guided by trunk detection for a rubber-tapping robot. A tightly coupled sliding-window-based factor graph method is proposed for pose...
Physiological organ motion, such as breathing movement, presents a challenge in the development of medical robots for autonomous wound closure. The robot’s task is to determine the wound’s pose and relay magnetic fixtures near the wound e...
This study presents six degrees of freedom (6-DoF) pose estimation of an object from a single RGB image and retrieval of the matching CAD model by measuring the similarity between RGB and CAD rendering images. The 6-DoF pose estimation of an RGB obje...
This paper presents a novel approach to enhance pose estimation accuracy and precision in mobile robotics using multiple graphical markers. While traditional single-marker methods using graphical markers such as ArUco offer simple implementation, the...
Robot path planning is an important component of ensuring the robots complete work tasks effectively. Nowadays, most maps used for robot path planning obtain relevant coordinate information through sensor measurement, establish a map model based on c...
This paper proposes an improved data-driven calibration method for a six degrees of freedom (DOF) hybrid robot. It focuses mainly on improving the measurement efficiency and practicability of existing data-driven calibration methods through the follo...
Previous research has established that some models of robotic lawn mowers are potentially harmful to hedgehogs. As the market for robotic lawn mowers is expanding rapidly and the populations of European hedgehogs (Erinaceus europaeus) are in decline,...
Accurate pose estimation is a fundamental ability that all mobile robots must posses in order to navigate a given environment. Much like a human, this ability is dependent on the robot’s understanding of a given scene. For autonomous vehicles (...
This paper deals with 3D visual servoing applied to mobile robots in the presence of measurement disturbances, caused in particular by target occlusion. We propose a new approach based on the flatness concept. In 3D visual servoing, the task is perfo...
Programming robots for performing different activities requires calculating sequences of values of their joints by taking into account many factors, such as stability and efficiency, at the same time. Particularly for walking, state of the art techni...
Currently, almost all robot state estimation and localization systems are based on the Kalman filter (KF) and its derived methods, in particular the unscented Kalman filter (UKF). When applying the UKF alone, the estimate of the state is not sufficie...
Although robotic vision systems offer a promising technology solution for rapid and reconfigurable in-process 3D inspection of complex and large parts in contemporary manufacturing, measurement accuracy poses a challenge for its wide deployment. One...
The rapid development of digital manufacturing and robotic systems places increased demands on the accuracy and reliability of industrial manipulators. Traditional time-based reliability metrics do not reflect the robot’s ability to consistentl...
This paper presents a sensor system for robot localization based on the information obtained from a single camera attached in a fixed place external to the robot. Our approach firstly obtains the 3D geometrical model of the robot based on the project...
This paper presents an automated calibration method for industrial robots, based on the use of (1) a novel, low-cost, wireless, 3D measuring device mounted on the robot end-effector and (2) a portable 3D ball artifact fixed with respect to the robot...
Large animals pose unique challenges when collecting diagnostic radiographic images due to the size and power constraints of current human-focused devices. A slit-scan radiographic system mounted on a purpose-built robotic manipulator can provide a s...
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