Title :
A feasible vision-based measurement method for robot orientation error
Author :
Ma, Guangcheng ; Wang, Fuyou ; Qu, Zhenshen ; Feng, Baomin
Author_Institution :
Space Control & Inertia Technol. Center, Harbin Inst. of Technol.
Abstract :
A vision-based measurement method for robot orientation error is presented. The measurement can be completed by performing extrinsic parameters calibration twice, before and after the movement of the robot end-effector. It only needs a camera and a planar calib board. The process of the measurement is easy and quick with a high degree of accuracy. Experiments show that the angle error of the proposed method is lower than 0.1, and the orientation error representation is robust to the error produced in the measurement process
Keywords :
collision avoidance; end effectors; object recognition; robot vision; extrinsic parameter calibration; robot end-effector; robot orientation error; vision-based measurement; Calibration; Cameras; Coordinate measuring machines; Matrix decomposition; Orbital robotics; Performance evaluation; Robot kinematics; Robot vision systems; Rotation measurement; Space technology;
Conference_Titel :
Systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on
Conference_Location :
Harbin
Print_ISBN :
0-7803-9395-3
DOI :
10.1109/ISSCAA.2006.1627584
