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A novel multidimensional uncalibration method applied to six-axis manipulators

This study proposes a multidimensional uncalibrated technique for tracking and grasping dynamic targets by a robotic arm in the eye-in-hand mode. This method avoids complex and cumbersome calibration processes, enabling machine vision tasks to be adaptively applied in a variety of complex environmen...

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Detalles Bibliográficos
Autores principales: Qiu, Haitao, Huang, Dan, Zhang, Bo, Wang, Ming
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10382228/
https://www.ncbi.nlm.nih.gov/pubmed/37521691
http://dx.doi.org/10.3389/fnins.2023.1221740
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author Qiu, Haitao
Huang, Dan
Zhang, Bo
Wang, Ming
author_facet Qiu, Haitao
Huang, Dan
Zhang, Bo
Wang, Ming
author_sort Qiu, Haitao
collection PubMed
description This study proposes a multidimensional uncalibrated technique for tracking and grasping dynamic targets by a robotic arm in the eye-in-hand mode. This method avoids complex and cumbersome calibration processes, enabling machine vision tasks to be adaptively applied in a variety of complex environments, which solved the problem of traditional calibration methods being unstable in complex environments. The specific method used in this study is first, in the eye-in-hand mode, the robotic arm moves along the x, y, and z axes in sequence, and images are taken before and after each movement. Thereafter, the image Jacobian matrix is calculated from the three (or more) sets of images collected. Finally, the robotic arm converts the target coordinates in the real-time captured images by the camera into coordinates in the robotic arm coordinate system through the image Jacobian matrix and performs real-time tracking. This study tests the dynamic quasi-Newton method for estimating the Jacobian matrix and optimizes the initialization coupling problem using the orthogonal moving method. This optimization scheme significantly shortens the iteration process, making the uncalibrated technology more fully applied in the field of dynamic object tracking. In addition, this study proposes a servo control algorithm with predictive compensation to mitigate or even eliminate the systematic error caused by time delay in dynamic target tracking in robot visual servo systems.
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spelling pubmed-103822282023-07-29 A novel multidimensional uncalibration method applied to six-axis manipulators Qiu, Haitao Huang, Dan Zhang, Bo Wang, Ming Front Neurosci Neuroscience This study proposes a multidimensional uncalibrated technique for tracking and grasping dynamic targets by a robotic arm in the eye-in-hand mode. This method avoids complex and cumbersome calibration processes, enabling machine vision tasks to be adaptively applied in a variety of complex environments, which solved the problem of traditional calibration methods being unstable in complex environments. The specific method used in this study is first, in the eye-in-hand mode, the robotic arm moves along the x, y, and z axes in sequence, and images are taken before and after each movement. Thereafter, the image Jacobian matrix is calculated from the three (or more) sets of images collected. Finally, the robotic arm converts the target coordinates in the real-time captured images by the camera into coordinates in the robotic arm coordinate system through the image Jacobian matrix and performs real-time tracking. This study tests the dynamic quasi-Newton method for estimating the Jacobian matrix and optimizes the initialization coupling problem using the orthogonal moving method. This optimization scheme significantly shortens the iteration process, making the uncalibrated technology more fully applied in the field of dynamic object tracking. In addition, this study proposes a servo control algorithm with predictive compensation to mitigate or even eliminate the systematic error caused by time delay in dynamic target tracking in robot visual servo systems. Frontiers Media S.A. 2023-07-14 /pmc/articles/PMC10382228/ /pubmed/37521691 http://dx.doi.org/10.3389/fnins.2023.1221740 Text en Copyright © 2023 Qiu, Huang, Zhang and Wang. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Neuroscience
Qiu, Haitao
Huang, Dan
Zhang, Bo
Wang, Ming
A novel multidimensional uncalibration method applied to six-axis manipulators
title A novel multidimensional uncalibration method applied to six-axis manipulators
title_full A novel multidimensional uncalibration method applied to six-axis manipulators
title_fullStr A novel multidimensional uncalibration method applied to six-axis manipulators
title_full_unstemmed A novel multidimensional uncalibration method applied to six-axis manipulators
title_short A novel multidimensional uncalibration method applied to six-axis manipulators
title_sort novel multidimensional uncalibration method applied to six-axis manipulators
topic Neuroscience
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10382228/
https://www.ncbi.nlm.nih.gov/pubmed/37521691
http://dx.doi.org/10.3389/fnins.2023.1221740
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