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SLAM-integrated Kinematic Calibration (Simultaneous Kinematic Calibration, Localization and Mapping) for Industrial Machinery

Research Project

Project/Area Number 18K04045
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionYokohama National University

Principal Investigator

Maeda Yusuke  横浜国立大学, 大学院工学研究院, 教授 (50313036)

Project Period (FY) 2018-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2020: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2019: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2018: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Keywordsマニピュレータ / SLAM / 機構キャリブレーション / 地図作成
Outline of Final Research Achievements

In this study, we proposed SKCLAM (Simultaneous Kinematic Calibration, Localization And Mapping) techniques, in which robot manipulators can perform environmental mapping and calibration of their kinematic parameters simultaneously. The original SLAM (Simultaneous Localization And Mapping) techniques for mobile robots were extended and applied to robot manipulators. In our proposed methods, a robot manipulator equipped with an RGB-D camera observes features in the environment or checker patterns to achieve the SKCLAM. Their effectiveness was demonstrated in experiments in virtual and actual environments.

Academic Significance and Societal Importance of the Research Achievements

本研究により,比較的安価なセンサを用いて,ロボットの機構キャリブレーションおよび環境地図作成を手軽に行うことが可能となった.この成果は,ロボットの動作精度の向上やロボットの動作自動生成につながるものであり,ものづくりの高度化・省力化に寄与するものと言える.

Report

(4 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Research-status Report
  • 2018 Research-status Report
  • Research Products

    (13 results)

All 2021 2020 2019 2018 Other

All Journal Article (2 results) (of which Peer Reviewed: 2 results,  Open Access: 2 results) Presentation (9 results) (of which Int'l Joint Research: 2 results) Remarks (2 results)

  • [Journal Article] Accuracy improvement with checkerboards in SLAM-integrated kinematic calibration (SKCLAM) for industrial manipulators2020

    • Author(s)
      ITO Akitoshi、LI Jinghuii、MAEDA Yusuke
    • Journal Title

      Transactions of the JSME (in Japanese)

      Volume: 86 Issue: 891 Pages: 20-00028-20-00028

    • DOI

      10.1299/transjsme.20-00028

    • NAID

      130007942823

    • ISSN
      2187-9761
    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Simultaneous kinematic calibration, localization, and mapping (SKCLAM) for industrial robot manipulators2019

    • Author(s)
      Li Jinghui、Ito Akitoshi、Yaguchi Hiroyuki、Maeda Yusuke
    • Journal Title

      Advanced Robotics

      Volume: 33 Issue: 23 Pages: 1225-1234

    • DOI

      10.1080/01691864.2019.1689166

    • NAID

      120006796061

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] 産業用ロボットのためのステレオカメラを用いた SLAM 統合機構キャリブレーション2021

    • Author(s)
      長友 雄太朗, 李 景輝, 田中 靖章, 前田 雄介
    • Organizer
      日本機械学会生産システム部門研究発表講演会2021
    • Related Report
      2020 Annual Research Report
  • [Presentation] 産業用マニピュレータのための全天球カメラを用いたSLAM統合機構キャリブレーション2020

    • Author(s)
      田中 靖章, 李 景輝, 伊藤 聡利, 前田雄介
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会 2020 (ROBOMECH 2020)
    • Related Report
      2020 Annual Research Report
  • [Presentation] 産業用マニピュレータのためのチェッカーボードを用いたSLAM統合機構キャリブレーション (SKCLAM)2020

    • Author(s)
      伊藤 聡利, 李 景輝, 前田 雄介
    • Organizer
      第25回ロボティクスシンポジア
    • Related Report
      2019 Research-status Report
  • [Presentation] SLAM-Integrated Kinematic Calibration Using Checkerboard Patterns2020

    • Author(s)
      Ito Akitoshi, Li Jinghui Li, Maeda Yusuke
    • Organizer
      2020 IEEE/SICE Int. Symp. on Sysem Integration (SII 2020)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] A SLAM-Integrated Kinematic Calibration Method for Industrial Manipulators with RGB-D Cameras2019

    • Author(s)
      Li Jinghui, Ito Akitoshi, Maeda Yusuke
    • Organizer
      2019 19th Int. Conf. on Control, Automation and Systems (ICCAS 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] マニピュレータのためのSLAM統合機構キャリブレーションにおけるチェッカーパターンの利用2019

    • Author(s)
      伊藤 聡利, 李 景輝, 前田 雄介
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] SKCLAM: A Method of Simultaneous Kinematic Calibration and 3D Reconstruction for Industrial Manipulators2019

    • Author(s)
      Li Jinghui, Ito Akitoshi, Maeda Yusuke
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会 2019 (ROBOMECH 2019)
    • Related Report
      2019 Research-status Report
  • [Presentation] 六自由度産業用ロボットマニピュレータのためのSLAM統合機構キャリブレーション (SKCLAM)2019

    • Author(s)
      李 景輝, 伊藤 聡利, 前田 雄介
    • Organizer
      第24回ロボティクスシンポジア
    • Related Report
      2018 Research-status Report
  • [Presentation] ロボットマニピュレータのためのSLAM統合機構キャリブレーション (SKCLAM)2018

    • Author(s)
      伊藤 聡利, 矢口 皓之, 前田 雄介
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会 2018
    • Related Report
      2018 Research-status Report
  • [Remarks] 前田研究室ホームページ

    • URL

      https://iir.ynu.ac.jp/index-j.html

    • Related Report
      2020 Annual Research Report
  • [Remarks] 横浜国立大学大学院工学研究院前田研究室ホームページ

    • URL

      https://www.iir.me.ynu.ac.jp/index-j.html

    • Related Report
      2019 Research-status Report 2018 Research-status Report

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Published: 2018-04-23   Modified: 2022-01-27  

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