標題: Eye-hand-workspace calibration using laser pointer projection on plane surface
作者: Hu, Jwu-Sheng
Chang, Yung-Jung
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Robotics;Lasers;Calibration;Hand/eye calibration;Manipulator;Camera;Laser pointer;Closed-form solution;Optimization
公開日期: 2012
摘要: Purpose - The purpose of this paper is to propose a calibration method that can calibrate the relationships among the robot manipulator, the camera and the workspace. Design/methodology/approach - The method uses a laser pointer rigidly mounted on the manipulator and projects the laser beam on the work plane. Nonlinear constraints governing the relationships of the geometrical parameters and measurement data are derived. The uniqueness of the solution is guaranteed when the camera is calibrated in advance. As a result, a decoupled multi-stage closed-form solution. can be derived based on parallel line constraints, line/plane intersection and projective geometry. The closed-form solution can be further refined by nonlinear optimization which considers all parameters simultaneously in the nonlinear model. Findings - Computer simulations and experimental tests using actual data confirm the effectiveness of the proposed calibration method and illustrate its ability to work even when the eye cannot see the hand. Originality/value - Only a laser pointer is required for this calibration method and this method can work without any manual measurement. In addition, this method can also be applied when the robot is not within the camera field of view.
URI: http://hdl.handle.net/11536/16194
ISSN: 0143-991X
期刊: INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
Volume: 39
Issue: 2
結束頁: 197
顯示於類別:期刊論文


文件中的檔案:

  1. 000302527100011.pdf