Hand/eye calibration for electronic assembly robots

This paper investigates a special case of the hand/eye calibration problem, in which the sensor is mounted on an electronic assembly robot, such as a SCARA arm. We restrict our discussion to the case that the end-effector of the robot has three degrees of freedom in translation and one degree of freedom in rotation. A new linear solution method for the problem of hand/eye calibration is given in the paper. An iterative method is also proposed to improve the accuracy of calibration. Both approaches allow the calibration data to be measured while the robot moves arbitrarily in its workspace. Simulation and experimental studies confirm the effectiveness of the methods.