Hand/eye calibration for electronic assembly robots

Author

Zhuang, Hanqi

Author_Institution

Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

1341

Abstract

Robotic hand/eye calibration is the process of identifying the fixed, yet unknown, position and orientation of a sensor mounted on the robot end-effector with respect to the robot hand coordinate frame. It is proven in this paper that in the case of camera-equipped electronic assembly robots, up to five parameters (three rotation and two position parameters) in the hand/eye matrix can be determined. However, it is shown that in order to measure relative poses of the hand-mounted sensor, one needs only to know these five parameters. Linear and iterative methods are proposed to estimate the five relevant parameters. Simulation and experimental studies confirm the effectiveness of the methods

Keywords

assembling; calibration; electronic equipment manufacture; industrial manipulators; robot vision; electronic assembly robots; hand-mounted sensor; iterative methods; linear methods; robot end-effector; robot hand coordinate frame; robotic hand/eye calibration; sensor orientation; sensor position; Calibration; Equations; Iterative methods; Position measurement; Robot kinematics; Robot sensing systems; Robotic assembly; Rotation measurement; Sensor systems; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614323

Filename

614323