DocumentCode
2426574
Title
The narcissistic robot: Robot calibration using a mirror
Author
Rüther, Matthias ; Lenz, Martin ; Bischof, Horst
Author_Institution
Inst. for Comput. Graphics & Vision, Graz Univ. of Technol., Graz, Austria
fYear
2010
fDate
7-10 Dec. 2010
Firstpage
169
Lastpage
174
Abstract
We present a novel method for calibration of a robotic manipulator. The robot kinematic chain and its tool are observed by a hand mounted camera through a mirror. We show the possibility of enabling hand-eye, hand-tool, and kinematic robot calibration without incorporating accurate external references, except the mirror. Using this particularly simple setup, hand-eye calibration becomes independent of the kinematic chain and parameter observability constraints in kinematic calibration become more relaxed, which makes pose planning for robot calibration more convenient.
Keywords
calibration; manipulator kinematics; mirrors; observability; path planning; calibration; hand mounted camera; mirror; parameter observability constraints; pose planning; robot kinematic; robotic manipulator; Calibration; Cameras; Kinematics; Mirrors; Robot kinematics; Robot vision systems; catadioptric stereo; eye-hand calibration; kinematic refinement;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-7814-9
Type
conf
DOI
10.1109/ICARCV.2010.5707268
Filename
5707268
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