By Topic

Calibrating a Cartesian robot with eye-on-hand configuration independent of eye-to-hand relationship

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
R. K. Lenz ; Lehrstuhl fuer Nachrichtentech., Tech. Univ., Munchen, West Germany ; R. Y. Tsai

A new approach is described for geometric calibration of Cartesian robots. This is part of a set of procedures for real-time 3-D robotics eye, eye-to-hand, and hand calibration which uses a common setup and calibration object, common coordinate systems, matrices, vectors, symbols, and operations and is especially suited to machine vision systems. The robot makes a series of automatically planned movement with a camera rigidly mounted at the gripper. At the end of each move, it takes a total of 90 ms to grab an image, extract image feature coordinates, and perform camera-extrinsic calibration. After the robot finishes all the movements, it takes only a few milliseconds to do the calibration. The key of this technique is that only one rotary joint is moving for each movement. This allows the calibration parameters to be fully decoupled, and converts a multidimensional problem into a series of one-dimensional problems. Another key is that eye-to-hand transformation is not needed at all during the computation

Published in:

IEEE Transactions on Pattern Analysis and Machine Intelligence  (Volume:11 ,  Issue: 9 )