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Proceedings Paper

Research on direct calibration method of eye-to-hand system of robot
Author(s): Xiaoping Hu; Ke Xie; Tao Peng
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Paper 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.

Paper Details

Date Published: 10 October 2013
PDF: 7 pages
Proc. SPIE 8916, Sixth International Symposium on Precision Mechanical Measurements, 89163U (10 October 2013); doi: 10.1117/12.2035789
Show Author Affiliations
Xiaoping Hu, Hunan Univ. of Science and Technology (China)
Ke Xie, Hunan Univ. of Science and Technology (China)
Tao Peng, Hunan Univ. of Science and Technology (China)

Published in SPIE Proceedings Vol. 8916:
Sixth International Symposium on Precision Mechanical Measurements
Shenghua Ye; Yetai Fei, Editor(s)

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