Research on direct calibration method of eye-to-hand system of robot

Xiaoping Hu; Ke Xie; Tao Peng

doi:10.1117/12.2035789

10 October 2013 Research on direct calibration method of eye-to-hand system of robot

Xiaoping Hu, Ke Xie, Tao Peng

Proceedings Volume 8916, Sixth International Symposium on Precision Mechanical Measurements; 89163U (2013) https://doi.org/10.1117/12.2035789
Event: Sixth International Symposium on Precision Mechanical Measurements, 2013, Guiyang, China

Abstract

In the position-based visual servoing control for robot, the hand-eye calibration is very important because it can affect the control precision of the system. According to the robot with eye-to-hand stereovision system, this paper proposes a direct method of hand-eye calibration. The method utilizes the triangle measuring principle to solve the coordinates in the camera coordinate system of scene point. It calculates the estimated coordinates by the hand-eye calibration equation set which indicates the transformational relation from the robot to the camera coordinate system, and then uses the error of actual and estimated coordinates to establish the objective function. Finally the method substitutes the parameters into the function repeatedly until it converged to optimize the result. The related experiment compared the measured coordinates with the actual coordinates, shows the efficiency and the precision of it.

Citation Download Citation

Xiaoping Hu, Ke Xie, and Tao Peng "Research on direct calibration method of eye-to-hand system of robot", Proc. SPIE 8916, Sixth International Symposium on Precision Mechanical Measurements, 89163U (10 October 2013); https://doi.org/10.1117/12.2035789

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