A study on pose determination of a mobile/task robot for manipulating using active calibration method

Introduces a methodology of recognizing the position of a mobile/task robot using an active calibration method. The major problem residing in the precise control of a mobile/task robot is providing an accurate and stable base for the task robot through precise control of the mobile robot. The paper proposes a methodology for the precise control of the mobile robot and the active calibration, which recognizes the position of the mobile robot using the camera attached at the hand of the task robot. This method is applied to the manipulation of polygonal and cylindrical objects. This active calibration method is different from the passive calibration, which is performed by using a calibration grid. The active calibration method finds an algorithm to actively compensate camera and robot pose through the correspondence of point, line and conic of an assembly part by using the geometric property during robot operation. Experimental results show that the mobile/task robot improves the task efficiency and compensates actively the pose using the object´s model through the active calibration method