Automatic Calibration Procedure for a Service Robot
Liikanen, Topias (2017)
Liikanen, Topias
Metropolia Ammattikorkeakoulu
2017
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-2017052610491
https://urn.fi/URN:NBN:fi:amk-2017052610491
Tiivistelmä
Modern service robots operate in constantly changing environments. For a robot to be able to perform vision-based manipulation tasks in these environments, the robot’s vision system and manipulators must be calibrated.
The aim of this thesis project was to develop an automatic calibration procedure for the Care-O-bot 4, a service robot developed by the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA). Different calibration methods were researched and the best suiting methods were selected for implementation.
As a result, an automatic calibration procedure was specified and a software package for performing the procedure was developed. The software package was tested to provide most of the automatic calibration procedure’s expected functionalities: automatic calculation of calibration poses, calibration data acquisition, and camera calibration. One important feature for the calibration procedure to be ready for use, calculation of kinematic calibration parameters, was not implemented due to the limited time spent on the project.
When finished, the calibration procedure can be utilized to calibrate all Care-O-bot 4 service robots produced by Fraunhofer IPA.
The aim of this thesis project was to develop an automatic calibration procedure for the Care-O-bot 4, a service robot developed by the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA). Different calibration methods were researched and the best suiting methods were selected for implementation.
As a result, an automatic calibration procedure was specified and a software package for performing the procedure was developed. The software package was tested to provide most of the automatic calibration procedure’s expected functionalities: automatic calculation of calibration poses, calibration data acquisition, and camera calibration. One important feature for the calibration procedure to be ready for use, calculation of kinematic calibration parameters, was not implemented due to the limited time spent on the project.
When finished, the calibration procedure can be utilized to calibrate all Care-O-bot 4 service robots produced by Fraunhofer IPA.