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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...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2023
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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. |
format | Online Article Text |
id | pubmed-10382228 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
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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