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Research on hand-eye calibration method based on stereo vision for harvesting robot
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Paper Abstract

In the field of harvesting robot control with vision feedback, hand-eye system calibration is very important which directly affects the precision of the task. Aiming at the feature that the vision of harvesting robot is fixed, a hand-eye system calibration method was developed. In the proposed method, by making use of the stereo vision to obtain coordinates of the target point in the robot coordinate system, and combining robot motion parameters, the calibration equations can be established first, and the eye-to-hand systems can be further calibrated based on improved least square method. This calibration process is simple, and does not need complex auxiliary devices. Related experiments have been done based on the suggested method to obtain the transformation matrix between hand-eye systems calibration, which has been shown to be of precision and efficiency.

Paper Details

Date Published: 6 February 2019
PDF: 9 pages
Proc. SPIE 10842, 9th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Subdiffraction-limited Plasmonic Lithography and Innovative Manufacturing Technology, 108420M (6 February 2019); doi: 10.1117/12.2514709
Show Author Affiliations
Haiming Xu, Institute of Intelligent Machines (China)
Hefei Univ. of Technology (China)
Hefei Institute of Technology Innovation (China)
Leiming Ding, Institute of Intelligent Machines (China)
Hefei Univ. of Technology (China)
Pin Lu, Institute of Intelligent Machines (China)
Hefei Univ. of Technology (China)
Rui Jiang, Anhui Agricultural Univ. (China)
Yafei Yan, Institute of Intelligent Machines (China)
Hefei Univ. of Technology (China)
Danyang Zhao, Institute of Intelligent Machines (China)
Anhui Agricultural Univ. (China)
Rujing Wang, Institute of Intelligent Machines (China)
Bingyu Sun, Institute of Intelligent Machines (China)
Wenqiang Wang, Weihai Ocean Vocational College (China)
Zhengyong Zhang, Institute of Intelligent Machines (China)


Published in SPIE Proceedings Vol. 10842:
9th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Subdiffraction-limited Plasmonic Lithography and Innovative Manufacturing Technology
Mingbo Pu; Xiong Li; Xiaoliang Ma; Rui Zhou; Xuanming Duan; Xiangang Luo, Editor(s)

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