SLAM-Integrated Kinematic Calibration (SKCLAM) for Robot Manipulators

Abstract

Today, it is possible to program industrial robots completely offline. However, since any robot has kinematic errors, the absolute accuracy of the robot is not necessarily sufficient. Therefore, kinematic calibration is indispensable. However, most of calibration methods that have been proposed require to stop the work for mass measurement in advance. In this study, we developed a SKCLAM method, which simultaneously performs kinematic calibration and mapping for a manipulator with an RGB-D sensor attached to its hand. Here, we verified the SKCLAM method in both the virtual environment and the real environment. The results showed that the effectiveness and some limitations of our current implementation.