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Proceedings Paper

General Approach To Calibration Of Robotic Sensor Systems
Author(s): Christopher P. Cullen
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Paper Abstract

A general approach to the calibration of sensor systems is presented. Calibration is defined as establishing a transformation from a set of sensor data in sensor coordinates, to task data in a different coordinate system; this task data may be used to specify or correct robot motion, or measure part features. A sensor system is defined as any collection of individual sensing elements. Typical elements include machine vision cameras, touch sensors, and proximity sensors. It is shown that a collection of many sensors into one system can increase sensing capability and accuracy. Calibration of such a system is generally more complex than that of a single sensing element. A graphical language, using dataflow diagrams, is used to define the calibration process. Using this language, a calibration diagram is constructed. This diagram identifies individual elements, clearly shows the data flow, and can be used to analyze the statistical properties of the calibration. Diagrams of standard constituent elements are presented, including camera and robot arm. This calibration methodology is derived from the experience of hundreds of working factory installations. Several examples of actual applications are presented. Different calibration methods for each are presented and compared. Examples are given to represent robot guidance using fixed cameras, and part location using proximity sensors.

Paper Details

Date Published: 19 February 1988
PDF: 11 pages
Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); doi: 10.1117/12.942734
Show Author Affiliations
Christopher P. Cullen, Automatix Inc, (United States)

Published in SPIE Proceedings Vol. 0848:
Intelligent Robots and Computer Vision VI
David P. Casasent; Ernest L. Hall, Editor(s)

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