Calibration of a robot hand-eye system with a concentric circles target

Author

Yan Liu ; Qinglin Wang ; Yuan Li

Author_Institution

Sch. of Autom., Beijing Inst. of Technol., Beijing, China

fYear

2015

fDate

13-17 Jan. 2015

Firstpage

204

Lastpage

209

Abstract

An approach for a robot hand-eye system calibration is presented using concentric circles target with one pair of orthogonal diameters. The geometric features of vanishing points on the orthogonal diameters are exploited to estimate the camera intrinsic and extrinsic parameters. One diameter is used to estimate the coefficients of the structured light plane. The structured light stripe projected on the circle center and one endpoint of each diameter are used to calculate the target position in the robot workspace and finally the transformation formula is used to obtain the hand-eye relationship. The measurement experimental results verify the calibration method with the measurement average absolute error 0.33mm and the average relative error 0.21%.

Keywords

calibration; manipulators; robot vision; camera extrinsic parameters; camera intrinsic parameters; concentric circles target; geometric features; hand-eye relationship; orthogonal diameters; robot hand-eye system calibration; robot workspace; structured light plane; structured light stripe; target position; vanishing points; Calibration; Cameras; Robot kinematics; Robot vision systems; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Applied Sciences and Technology (IBCAST), 2015 12th International Bhurban Conference on

Conference_Location

Islamabad

Type

conf

DOI

10.1109/IBCAST.2015.7058505

Filename

7058505