Development of a position sensitive device and control method for automated robot calibration

Nieves, Erick; Xi, Ning; Jia, Yunyi; Martínez, Carlos; Zhang, George

doi:10.1109/coase.2013.6654044

Cited by 12 publications

(3 citation statements)

References 9 publications

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“…Several systems that use PSD sensors, such as [ 16 ], use collimated laser beams, and therefore, the PSD sensor is not attached to an optical system; however, they also require calibration, since the behavior of the PSD presents distortion that must be corrected, as explained in [ 17 ]. In [ 18 ], laser scanning was used to correct PSD sensor distortion, yielding micron-level accuracy and making it possible to adjust the measurements obtained with the movements performed by the laser.…”

Section: Introductionmentioning

confidence: 99%

Mathematical Model and Calibration Procedure of a PSD Sensor Used in Local Positioning Systems

Rodríguez-Navarro

Galilea

Bravo

et al. 2016

Sensors

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Here, we propose a mathematical model and a calibration procedure for a PSD (position sensitive device) sensor equipped with an optical system, to enable accurate measurement of the angle of arrival of one or more beams of light emitted by infrared (IR) transmitters located at distances of between 4 and 6 m. To achieve this objective, it was necessary to characterize the intrinsic parameters that model the system and obtain their values. This first approach was based on a pin-hole model, to which system nonlinearities were added, and this was used to model the points obtained with the nA currents provided by the PSD. In addition, we analyzed the main sources of error, including PSD sensor signal noise, gain factor imbalances and PSD sensor distortion. The results indicated that the proposed model and method provided satisfactory calibration and yielded precise parameter values, enabling accurate measurement of the angle of arrival with a low degree of error, as evidenced by the experimental results.

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Section: Introductionmentioning

confidence: 99%

Mathematical Model and Calibration Procedure of a PSD Sensor Used in Local Positioning Systems

Rodríguez-Navarro

Galilea

Bravo

et al. 2016

Sensors

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“…After the processing circuit board gets the raw data from the two sensors, the signals are taken by a wireless USB hub through a data acquisition card. Detailed information about the data acquisition system is explained more extensively in [14]. Once the data reaches the computer we implement our PC-based controller so that the robot TCP move to the desired position relative to the sensors.…”

Section: A Data Acquisition Systemmentioning

confidence: 99%

Robot control system for multi-position alignment used to automate an industrial robot calibration approach

Nieves

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Robot calibration is widely used in the manufacture industry to enhance and achieve a higher level of accuracy on industrial robot manipulators. Currently, there are many reliable calibration systems able to perform the calibration task. Those systems, however, are far from being a user friendly calibration tool; they are time consuming, very expensive, and usually requires a lot of human interaction. Therefore, we proposed a new calibration system able to overcome those problems with promising results. However, to take the system to the next level, and create an automated calibration process, we need to create a control system capable of guiding the robot's tool center point to a multi-position alignment. Throughout this paper the control approach needed to achieve automation of the entire system is presented and discussed. Simulations and experimental results demonstrated the feasibility of the overall calibration system including hardware, software and control algorithms.

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“…Currently, AMCR’s navigation system widely utilizes 2D LiDAR and 1D laser sensors [ 4 , 5 ], IMU, and Position Sensitive Detectors PSD [ 6 , 7 ] for environment recognition and obstacle detection. However, these sensors’ performances are stable in static environments and relatively weak in accurately recognizing hazardous objects.…”

Section: Introductionmentioning

confidence: 99%

Deep-Learning-Based Context-Aware Multi-Level Information Fusion Systems for Indoor Mobile Robots Safe Navigation

Yin

Ramalingam

Elara

et al. 2023

Sensors

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Hazardous object detection (escalators, stairs, glass doors, etc.) and avoidance are critical functional safety modules for autonomous mobile cleaning robots. Conventional object detectors have less accuracy for detecting low-feature hazardous objects and have miss detection, and the false classification ratio is high when the object is under occlusion. Miss detection or false classification of hazardous objects poses an operational safety issue for mobile robots. This work presents a deep-learning-based context-aware multi-level information fusion framework for autonomous mobile cleaning robots to detect and avoid hazardous objects with a higher confidence level, even if the object is under occlusion. First, the image-level-contextual-encoding module was proposed and incorporated with the Faster RCNN ResNet 50 object detector model to improve the low-featured and occluded hazardous object detection in an indoor environment. Further, a safe-distance-estimation function was proposed to avoid hazardous objects. It computes the distance of the hazardous object from the robot’s position and steers the robot into a safer zone using detection results and object depth data. The proposed framework was trained with a custom image dataset using fine-tuning techniques and tested in real-time with an in-house-developed mobile cleaning robot, BELUGA. The experimental results show that the proposed algorithm detected the low-featured and occluded hazardous object with a higher confidence level than the conventional object detector and scored an average detection accuracy of 88.71%.

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Development of a position sensitive device and control method for automated robot calibration

Cited by 12 publications

References 9 publications

Mathematical Model and Calibration Procedure of a PSD Sensor Used in Local Positioning Systems

Mathematical Model and Calibration Procedure of a PSD Sensor Used in Local Positioning Systems

Robot control system for multi-position alignment used to automate an industrial robot calibration approach

Deep-Learning-Based Context-Aware Multi-Level Information Fusion Systems for Indoor Mobile Robots Safe Navigation

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