System, device and method for determining error in robotic manipulator-to-camera calibration

Disclosed herein is a device, system and method for determining error in robotic manipulator-to-camera calibration. The method includes detecting a test object by a camera coupled to a robotic manipulator. One or more test points are identified on the test object based on a CAD model and pre-defined...

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Bibliographic Details
Main Authors Subbaraya, Yadhunandan Ullam, Vepakomma, Navya
Format Patent
LanguageEnglish
Published 21.02.2023
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:Disclosed herein is a device, system and method for determining error in robotic manipulator-to-camera calibration. The method includes detecting a test object by a camera coupled to a robotic manipulator. One or more test points are identified on the test object based on a CAD model and pre-defined contact points corresponding to the test object. Arm poses are determined for the robotic manipulator to reach the test points on the 3D test object by using current robotic manipulator-to-camera calibration. While driving an end effector of the robotic manipulator based on the arm poses, any contact of the end effector on the 3D test object is recorded upon receiving a feedback from the 3D test object. An error is determined in the current robotic manipulator-to-camera calibration based on current position of the end effector relative to the one or more test points on the 3D test object.
Bibliography:Application Number: US202016836427