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

Author

Li, Aiguo ; Ma, Zi ; Wu, Defeng

Author_Institution

Dept. of Inf. Sci. & Technol., Dalian Maritime Univ., Dalian, China

fYear

2010

Firstpage

3241

Lastpage

3245

Abstract

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.

Keywords

calibration; evolutionary computation; industrial robots; pose estimation; robot vision; transforms; 3D surface digitalization; adaptive differential evolution; hand-eye calibration; hand-eye matrix; homogenous coordinate transform principle; industrial robot; line-structured-light vision scanner; mathematic model; robot hand pose; robot measuring system; Antenna arrays; Calibration; Chromium; Robot kinematics; Robot sensing systems; Service robots; adaptive differential evolution; hand-eye calibration; line-structured-light scanner;

fLanguage

English

Publisher

ieee

Conference_Titel

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

Conference_Location

Jinan

Print_ISBN

978-1-4244-6712-9

Type

conf

DOI

10.1109/WCICA.2010.5555176

Filename

5555176