Kinematic Localization for World Model Calibration in Off-Line Robot ProgrammingUsing Clifford Algebra

摘要

This paper deals with calibrating spatial relationships among CAD models ofobjects used in off line robot programming. An approach based on a Clifford algebra is used and simple algorithms are developed for this kinematic localization problem. The position and orientation of each object in workcell are represented by multivectors of different ranks and the localization problem is converted into the of solving a set of multivector equations. Given locations of points in two frames, an averaging process is developed which yields the best orientation as the root of four linear equations and the best position as a linear combination of the best rotation and the centroids of two point systems. If normal vectors are also sensed, the Clifford algebra representation facilitates definition of a measure of orientation error compatible with the position error.