Automatic and hand guided self-registration between a robot and an optical tracking system
In this paper an self-registration method for a robot with an optical tracking system (OTS) is presented. The ability of the used KUKA lightweight robot allows to perform the registration in hand guided mode or completely automatically. The hand guidance allows the user to register the robot with th...
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| creator | Stein, D. Monnich, H. Raczkowsky, J. Worn, H. |
| description | In this paper an self-registration method for a robot with an optical tracking system (OTS) is presented. The ability of the used KUKA lightweight robot allows to perform the registration in hand guided mode or completely automatically. The hand guidance allows the user to register the robot with the tracking system in a very fast and intuitive way. He can take the robot by hand and move it and the registration is performed automatically. The mathematical goal is to find a rotation and translation to compute the pose of the robot base and end effector in terms of the coordinate system of the OTS. At each position the pose of the rigid body as well as the TCP of the robot is determined. Since the origin of the rigid body usually is different from the TCP a simple point-to-point transformation as e.g. provided by Horn is not suitable. The problem was reformulated to avoid this and solved with a modified Gauss Newton algorithm. |
| format | Conference Proceeding |
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The ability of the used KUKA lightweight robot allows to perform the registration in hand guided mode or completely automatically. The hand guidance allows the user to register the robot with the tracking system in a very fast and intuitive way. He can take the robot by hand and move it and the registration is performed automatically. The mathematical goal is to find a rotation and translation to compute the pose of the robot base and end effector in terms of the coordinate system of the OTS. At each position the pose of the rigid body as well as the TCP of the robot is determined. Since the origin of the rigid body usually is different from the TCP a simple point-to-point transformation as e.g. provided by Horn is not suitable. 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The problem was reformulated to avoid this and solved with a modified Gauss Newton algorithm.</description><subject>Biomedical optical imaging</subject><subject>Calibration</subject><subject>End effectors</subject><subject>Fasteners</subject><subject>Gaussian processes</subject><subject>laser osteotomy</subject><subject>Laser surgery</subject><subject>Medical robotics</subject><subject>optical tracking</subject><subject>Robot kinematics</subject><subject>Robotics and automation</subject><subject>self calibration</subject><subject>Skull</subject><subject>Surgical robotics</subject><isbn>9781424448555</isbn><isbn>1424448557</isbn><isbn>3839600359</isbn><isbn>9783839600351</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2009</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj8lqwzAURVVKoW3qL-hGP2DQ9DQsQ-gEgW6y6ibI1pOj1EOwFEr-vu6wuXdzzoV7Re6llU4zJsFdk8oZy5VQSlkAuCVVzkfGGHfagGB35GN9LtPgS2qpHwM9_ER3TgEDzdjHesYu5TIvwDTSBssX4kg9nadmKr-GH-l0WnTf0wVrP9PY0XzJBYcHchN9n7H67xXZPT_tNq_19v3lbbPe1smxUnMI2mD0loWoJTZWc8mlUBoELC8c2LZFFrQGHgOCNQ6MAGQyCmmtiXJFHv9mEyLuT3Ma_HzZAzfKcim_AcGfTY4</recordid><startdate>200906</startdate><enddate>200906</enddate><creator>Stein, D.</creator><creator>Monnich, H.</creator><creator>Raczkowsky, J.</creator><creator>Worn, H.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200906</creationdate><title>Automatic and hand guided self-registration between a robot and an optical tracking system</title><author>Stein, D. ; Monnich, H. ; Raczkowsky, J. ; Worn, H.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-15d67efa80df63eb861313246525960958cce0d6651fde58795725e03f23887f3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Biomedical optical imaging</topic><topic>Calibration</topic><topic>End effectors</topic><topic>Fasteners</topic><topic>Gaussian processes</topic><topic>laser osteotomy</topic><topic>Laser surgery</topic><topic>Medical robotics</topic><topic>optical tracking</topic><topic>Robot kinematics</topic><topic>Robotics and automation</topic><topic>self calibration</topic><topic>Skull</topic><topic>Surgical robotics</topic><toplevel>online_resources</toplevel><creatorcontrib>Stein, D.</creatorcontrib><creatorcontrib>Monnich, H.</creatorcontrib><creatorcontrib>Raczkowsky, J.</creatorcontrib><creatorcontrib>Worn, H.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Stein, D.</au><au>Monnich, H.</au><au>Raczkowsky, J.</au><au>Worn, H.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Automatic and hand guided self-registration between a robot and an optical tracking system</atitle><btitle>2009 International Conference on Advanced Robotics</btitle><stitle>ICAR</stitle><date>2009-06</date><risdate>2009</risdate><spage>1</spage><epage>5</epage><pages>1-5</pages><isbn>9781424448555</isbn><isbn>1424448557</isbn><eisbn>3839600359</eisbn><eisbn>9783839600351</eisbn><abstract>In this paper an self-registration method for a robot with an optical tracking system (OTS) is presented. The ability of the used KUKA lightweight robot allows to perform the registration in hand guided mode or completely automatically. The hand guidance allows the user to register the robot with the tracking system in a very fast and intuitive way. He can take the robot by hand and move it and the registration is performed automatically. The mathematical goal is to find a rotation and translation to compute the pose of the robot base and end effector in terms of the coordinate system of the OTS. At each position the pose of the rigid body as well as the TCP of the robot is determined. Since the origin of the rigid body usually is different from the TCP a simple point-to-point transformation as e.g. provided by Horn is not suitable. The problem was reformulated to avoid this and solved with a modified Gauss Newton algorithm.</abstract><pub>IEEE</pub><tpages>5</tpages></addata></record> |
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| ispartof | 2009 International Conference on Advanced Robotics, 2009, p.1-5 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Biomedical optical imaging Calibration End effectors Fasteners Gaussian processes laser osteotomy Laser surgery Medical robotics optical tracking Robot kinematics Robotics and automation self calibration Skull Surgical robotics |
| title | Automatic and hand guided self-registration between a robot and an optical tracking system |
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