Paper Info
Title
Hand/Eye Calibration For Electronic Assembly Robots
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.
Year
DOI
Venue
1997
10.1109/ROBOT.1997.614323
1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4
Keywords
DocType
Volume
iterative methods,calibration,vectors,robot kinematics,iteration method,robot end effector
Conference
14
Issue
ISSN
Citations 
4
1050-4729
1
PageRank 
References 
Authors
0.37
17
1
Name
Order
Citations
PageRank
Hanqi Zhang1161.47