This paper illustrates the design and implementation of a robotic software system based on robot-human interactions, which increases the applications of low-cost, inaccurate robots such as Baxter. The first four parts of the paper discuss the motivation, market & industry, IP strategy and system workflow. Then the paper explains a specific technical contribution of the project in detail – estimating Baxter's positioning accuracy. Based on forward kinematics and Jacobian matrix respectively, two models are built to convert the error tolerance of the joints to the error tolerance of the end effector in the Cartesian space. The second model based on Jacobian matrix is chosen as the final approach since it has linear complexity and it is more computationally efficient. The result gives a reasonable estimation of Baxter's accuracy, which allows valid comparison with the task's accuracy requirements. Thus we are able to determine how the human can interact with the robot and improve its performance.
Title
Robotic Manipulation with a Human in the Loop - Accuracy Estimation of the Baxter Robot
Published
2015-05-13
Full Collection Name
Electrical Engineering & Computer Sciences Technical Reports
Other Identifiers
EECS-2015-67
Type
Text
Extent
39 p
Archive
The Engineering Library
Usage Statement
Researchers may make free and open use of the UC Berkeley Library’s digitized public domain materials. However, some materials in our online collections may be protected by U.S. copyright law (Title 17, U.S.C.). Use or reproduction of materials protected by copyright beyond that allowed by fair use (Title 17, U.S.C. § 107) requires permission from the copyright owners. The use or reproduction of some materials may also be restricted by terms of University of California gift or purchase agreements, privacy and publicity rights, or trademark law. Responsibility for determining rights status and permissibility of any use or reproduction rests exclusively with the researcher. To learn more or make inquiries, please see our permissions policies (https://www.lib.berkeley.edu/about/permissions-policies).
