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Six DOF Eye-to-Hand Calibration from 2D Measurements Using Planar Constraints

In English

Författare

Redaktör

  • Alois Knoll

Summary, in English

This article presents a linear, iterative method to solve the eye-to-hand calibration problem between a wrist-mounted laser scanner and the tool flange of a robot. Measurement data are acquired from a set of non parallel planes whereafter the plane equations and desired rigid transformation matrix are found in a two-step, iterative fashion. The method is shown to handle large error in the initial estimate of the transform and results are verified in both simulations and experiments using a seam tracking laser sensor for welding applications.

Publiceringsår

2015

Språk

Engelska

Sidor

3628-3632

Publikation/Tidskrift/Serie

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Robotics

Nyckelord

  • calibration
  • laser scanner
  • eye to hand
  • eye in hand
  • kinematic calibration

Conference name

IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015

Conference date

2015-09-28 - 2015-10-02

Conference place

Hamburg, Germany

Status

Published

Projekt

  • Flexifab
  • LU Robotics Laboratory