DocumentCode
1863395
Title
Robot calibration using mobile camera
Author
Campion, Gianni ; Fiorini, Paolo ; Martelli, Sandra
Author_Institution
Dipt. di Informatica, Universita di Verona, Italy
Volume
1
fYear
2002
fDate
2002
Firstpage
141
Abstract
This paper describes a new calibration method for robot manipulators using a mobile TV camera and 3D digitizer. This method is motivated by the need of precisely calibrating a large work space without using special instruments or calibration fixtures. The method uses an innovative kinematic model of the robot-camera system, which permits one to combine, without loss of precision, measurements taken from different camera positions of different work volumes. The method includes algorithms for the selection of robot poses and kinematic parameter identification. Results of simulation tests of a surgical robot are presented.
Keywords
Jacobian matrices; calibration; computational geometry; identification; manipulator kinematics; video cameras; Jacobian matrix; calibration; geometrical model; identification; kinematic model; mobile video camera; robot manipulators; Calibration; Cameras; Fixtures; Instruments; Kinematics; Manipulators; Mobile TV; Mobile robots; Orbital robotics; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013352
Filename
1013352
Link To Document