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Hand-eye calibration for robot measuring system based on adaptive differential evolution

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3 Author(s)
Aiguo Li ; Dept. of Inf. Sci. & Technol., Dalian Maritime Univ., Dalian, China ; Zi Ma ; Defeng Wu

A platform composed of a line-structured-light vision scanner and an industrial robot is established for 3D surface digitalization. A mathematic model for measuring system is constructed by using homogenous coordinate transform principle and a rough estimation of hand-eye matrix is proposed through measuring a fixed point at different robot hand poses. An adaptive differential evolution, in which the mutation is determined dynamically, is presented for improving accuracy of hand-eye calibration. Test results of real experiments are reported and analyzed.

Published in:

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Date of Conference:

7-9 July 2010