PAMC: POSTURE ALIGNMENT METHOD BASED ON CRBM FOR CAMERA ROBOT SYSTEM

作     者：He, Jingjie Zhang, Wenjing Xu, Feng 

作者机构：Artificial Intelligence Research Institute Beijing Institute of Petrochemical Technology 102600 China School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu611731 China 

出 版 物：《UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science》 (UPB Sci. Bull. Ser. C Electr. Eng. Comput. Sci.)

年 卷 期：2024年第86卷第3期

页      面：171-182页

核心收录：

基　　金：This work was supported by the Climbing Program Foundation from Beijing Institute of Petrochemical Technology (Project No. BIPTAAI-008)  and Beijing Municipal Education Commission Science and Technology General Project (Project No. KM202310017001) 

主　　题：Systematic errors 

摘      要：By acquiring the posture information of the rigid body with markers on the gripper frame, the camera motion on the robot flange can be controlled remotely. The essential step of posture alignment in teleoperation is to calibrate the transformation matrix of the robot base coordinate system and the world coordinate system of the optical tracking system. In this paper, a novel Posture Alignment Method Based on the Customized Rigid Body with Markers (PAMC) was proposed, which was an automatic, accurate and quick method to complete the posture alignment for related coordinate systems without non-systematic errors. PAMC was applied to teleoperation for the camera robot based on the customized rigid body with markers and optical tracking system. The comparative experiments prove that PAMC is better than manual method, with more stable, more flexible physical setting for reference coordinate system, and shorter operation time-consuming. Meanwhile, PAMC is more suitable for camera robot teleoperation than the existed automatic method due to arbitrary calibration posture and collision avoidance. © 2024, Politechnica University of Bucharest. All rights reserved.