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Traditionally, the initial pose of a robot manipulator has been done manually. The process must be repeated for each operations and each time a robot is replaced. Hence, pose measurement is needed. In this paper, a camera mounted on the end-effector is employed. Firstly, the position and orientation of camera with respect to the end-effector is solved through AX = XB composition, which is known as hand-eye calibration. However, this paper proposed a modification with an alteration of notation for A and B in prior. An iterative approach is utilized to obtain X. Afterward, multi-stage and one-stage iterative approaches are proposed in pose measurement to eliminate angle displacements on each joint. The first one uses composition as in hand-eye calibration for each joint from the end-effector to robot base. The second one uses one iterative process to solve the entire angle displacements. Simulated data is presented for both results.
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on (Volume:2 )
Date of Conference: 23-25 June 2003