Automated generation of component system for the calibration of the service robot kinematic parameters

In the article we propose a fast and cheap strategy of service robot kinematic parameters calibration. Our method is based on sensors (cameras in particular) that are already mounted on the robot and inexpensive markers, that are easy to fix on the robot arms. We developed the method to compute the impact of manipulator velocity on markers localization error in camera image. Thanks to our method, the calibration data acquisition can be significantly shortened, because a certain, acceptable marker detection error threshold can be introduced that allows to acquire the data with non-zero velocity of the manipulator. Additionally, we propose a method of automatic component based data acquisition system generation, based on the embodied agent theory and tree like kinematic model representation of the robot. Our model is suitable for the most of service robots. The same model forms the base for an automatic generation of measure functions for cost functions used in the optimization process to find the optimal set of model parameters. The whole approach has been verified experimentally using Velma service robot.