Calibrating a Cartesian robot with eye-on-hand configurationindependent of eye-to-hand relationship
Lenz, R.K.
Tsai, R.Y.
Lehrstuhl fuer Nachrichtentech., Tech. Univ., Munchen;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Sep 1989
Volume: 11,
Issue: 9
On page(s): 916-928
ISSN: 0162-8828
References Cited: 22
CODEN: ITPIDJ
INSPEC Accession Number: 3509338
Digital Object Identifier: 10.1109/34.35495
Current Version Published: 2002-08-06
Abstract
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
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