PROJECT TITLE :
Simultaneous Hand–Eye, Tool–Flange, and Robot–Robot Calibration for Comanipulation by Solving the Problem
Multirobot comanipulation shows nice potential in surpassing the constraints of single-robot manipulation in difficult tasks like robotic surgeries. However, a dynamic multirobot setup in unstructured environments poses nice uncertainties in robot configurations. Therefore, the coordination relationships between the top-effectors and different devices, like cameras (hand-eye calibration) and tools (tool-flange calibration), moreover because the relationships among the base frames (robot-robot calibration) need to be determined timely to enable accurate robotic cooperation for the constantly changing configuration of the systems. We formulated the problem of hand-eye, tool-flange, and robot-robot calibration to a matrix equation AXB=YCZ. A series of generic geometric properties and lemmas were presented, leading to the derivation of the ultimate simultaneous algorithm. As well as the correct iterative solution, a closed-form solution was also introduced based on quaternions to allow an initial price. To show the feasibility and superiority of the simultaneous technique, 2 nonsimultaneous methods were compared through thorough simulations beneath varied robot movements and noise levels. Comprehensive experiments on real robots were also performed to any validate the proposed strategies. The comparison results from each simulations and experiments demonstrated the superior accuracy and potency of the proposed simultaneous calibration technique.
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