Journal ArticleDOI
Finding the Kinematic Base Frame of a Robot by Hand-Eye Calibration Using 3D Position Data
Liao Wu,Hongliang Ren +1 more
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TLDR
This paper proposes to find the kinematic base frame by solving a hand-eye calibration problem using 3D position measurements only, which avoids the inconvenience and inaccuracy of measuring orientations and thus significantly facilitates practical operations.Abstract:
When a robot is required to perform specific tasks defined in the world frame, there is a need for finding the coordinate transformation between the kinematic base frame of the robot and the world frame. The kinematic base frame used by the robot controller to define and evaluate the kinematics may deviate from the mechanical base frame constructed based on structural features. Besides, by using kinematic modeling rules such as the product of exponentials (POE) formula, the base frame can be arbitrarily located, and does not have to be related to any feature of the mechanical structure. As a result, the kinematic base frame cannot be measured directly. This paper proposes to find the kinematic base frame by solving a hand-eye calibration problem using 3D position measurements only, which avoids the inconvenience and inaccuracy of measuring orientations and thus significantly facilitates practical operations. A closed-form solution and an iterative solution are explicitly formulated and proved effective by simulations. Comprehensive analyses of the impact of key parameters to the accuracy of the solution are also carried out, providing four guidelines to better conduct practical operations. Finally, experiments on a 7-DOF industrial robot are performed with an optical tracking system to demonstrate the superiority of the proposed method using position data only over the method using full pose data.read more
Citations
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Journal ArticleDOI
Simultaneous Hand–Eye, Tool–Flange, and Robot–Robot Calibration for Comanipulation by Solving the $\mathbf{AXB=YCZ}$ Problem
TL;DR: In this paper, the problem of hand-eye, tool-flange, and robot-robot calibration is formulated as a matrix equation and a series of geometric properties and lemmas are presented, leading to the derivation of the final simultaneous algorithm.
Journal ArticleDOI
Simultaneous and on-line calibration of a robot-based inspecting system
Chengyi Yu,Juntong Xi +1 more
TL;DR: In this article, a self-calibration method was proposed to calibrate and compensate for the robot-based inspecting system's kinematic errors in order to improve the efficiency and accuracy of parameter estimation.
Journal ArticleDOI
Simultaneous robot-world and hand-eye calibration by the alternative linear programming
TL;DR: Both formulations provide new insights into the behavior and complexity of the simultaneous RW&HY calibration.
Journal ArticleDOI
A product-of-exponential-based robot calibration method with optimal measurement configurations:
TL;DR: A systematic and practical calibration method for an industrial robot to improve its absolute accuracy and an improved sequential forward floating search algorithm is proposed to select an optimal subset of configurations from a large pool of measured poses based on the D-Optimality.
Journal ArticleDOI
A Noise-Tolerant Algorithm for Robot-Sensor Calibration Using a Planar Disk of Arbitrary 3-D Orientation
TL;DR: A new calibration method in three steps: manual data collection, sensing data calculation, and transformation solution that is efficient and robust, easy implementation by following a proven and standard protocol, and tolerant to noise in the sensor data.
References
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Book
A Mathematical Introduction to Robotic Manipulation
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
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A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices
J. Denavit,R. S. Hartenberg +1 more
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Least-squares estimation of transformation parameters between two point patterns
TL;DR: The proposed theorem is a strict solution of the problem, and it always gives the correct transformation parameters even when the data is corrupted.
Journal ArticleDOI
Hand-Eye Calibration Using Dual Quaternions
TL;DR: This paper algebraically prove that if the authors consider the camera and motor transformations as screws, then only the line coefficients of the screw axes are relevant regarding the hand-eye calibration, and shows how a line transformation can be written with the dual-quaternion product.
Journal ArticleDOI
Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB
Yiu Cheung Shiu,S. Ahmad +1 more
TL;DR: Etalonnage d'un capteur monte sur le poignet d' un robot par resolutions des equations des transformations homogenes de la forme AX=XB.