Abstract
AbstractRobots and inertial measurement units (IMUs) are typically calibrated independently. IMUs are placed in purpose-built, expensive automated test rigs. Robot poses are typically measured using highly accurate (and thus expensive) tracking systems. In this paper, we present a quick, easy, and inexpensive new approach to calibrate both simultaneously, simply by attaching the IMU anywhere on the robot’s end-effector and moving the robot continuously through space. Our approach provides a fast and inexpensive alternative to both robot and IMU calibration, without any external measurement systems. We accomplish this using continuous-time batch estimation, providing statistically optimal solutions. Under Gaussian assumptions, we show that this becomes a nonlinear least-squares problem and analyze the structure of the associated Jacobian. Our methods are validated both numerically and experimentally and compared to standard individual robot and IMU calibration methods.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering,Control and Optimization,Mechanical Engineering,Modeling and Simulation
Reference52 articles.
1. Online robot kinematic calibration using hybrid filter with multiple sensors;Du;IEEE Trans. Instrum. Meas.,2020
2. An online initialization and self-calibration method for stereo visual-inertial odometry;Huang;IEEE Trans. Robot.,2020
3. Vision and imu data fusion: closed-form solutions for attitude, speed, absolute scale, and bias determination;Martinelli;IEEE Trans. Robot.,2012
4. Improved multi-position calibration for inertial measurement units;Zhang;Meas. Sci. Technol.,2009
5. [38] Meggiolaro, M. A. and Dubowsky, S. , “An Analytical Method to Eliminate the Redundant Parameters in Robot Calibration,” In: International Conference on Robotics and Automation (IEEE, 2000) pp. 3609–3615.