TY - GEN
T1 - Target position estimation for pick-and-place tasks using a mobile manipulator
AU - Kim, Hae Chang
AU - Yoon, In Hwan
AU - Song, Jae Bok
N1 - Funding Information:
* Research supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20008613) Hae-Chang Kim is with the School of Mechanical Engineering, Korea University, Seoul, Korea (e-mail: bluesky1463@korea.ac.kr). In-Hwan Yoon is with the Dept. of Mechatronics, Korea University, Seoul, Korea (e-mail: inhwan94@korea.ac.kr). Jae-Bok Song, the corresponding author and a senior member of IEEE, is with the School of Mechanical Engineering, Korea University, Seoul, Korea (tel: +82 2 3290 3363; fax: +82 2 3290 3757; e-mail: jbsong@korea.ac.kr).
Funding Information:
This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20008613).
Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/12
Y1 - 2021/7/12
N2 - A mobile manipulator uses marker detection and hand-eye calibration to compensate for the performance limitation of position estimation during pick-and-place tasks. However, even if these methods are applied, an error occurs due to the limitation of camera calibration, so it is not easy to place the object in the correct position. To solve this problem, this study proposes a system that enables the manipulator to move to the correct target position based on the relationship between the estimated marker position and the motion displacement of the end-effector of the manipulator. First, the relative position between the end-effector frame and the camera frame is accurately estimated to reduce errors that occur when moving the manipulator based on the camera frame. Then, a model is built between the estimated marker position and the actual one, and the manipulator is moved to the correct position by obtaining the displacement of the manipulator according to the estimated marker position. Experiments have shown that the proposed system has a small error of less than 0.5 mm and allows the mobile manipulator to place objects in the correct position.
AB - A mobile manipulator uses marker detection and hand-eye calibration to compensate for the performance limitation of position estimation during pick-and-place tasks. However, even if these methods are applied, an error occurs due to the limitation of camera calibration, so it is not easy to place the object in the correct position. To solve this problem, this study proposes a system that enables the manipulator to move to the correct target position based on the relationship between the estimated marker position and the motion displacement of the end-effector of the manipulator. First, the relative position between the end-effector frame and the camera frame is accurately estimated to reduce errors that occur when moving the manipulator based on the camera frame. Then, a model is built between the estimated marker position and the actual one, and the manipulator is moved to the correct position by obtaining the displacement of the manipulator according to the estimated marker position. Experiments have shown that the proposed system has a small error of less than 0.5 mm and allows the mobile manipulator to place objects in the correct position.
UR - http://www.scopus.com/inward/record.url?scp=85112406879&partnerID=8YFLogxK
U2 - 10.1109/UR52253.2021.9494680
DO - 10.1109/UR52253.2021.9494680
M3 - Conference contribution
AN - SCOPUS:85112406879
T3 - 2021 18th International Conference on Ubiquitous Robots, UR 2021
SP - 494
EP - 498
BT - 2021 18th International Conference on Ubiquitous Robots, UR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th International Conference on Ubiquitous Robots, UR 2021
Y2 - 12 July 2021 through 14 July 2021
ER -