Six DOF Eye-to-Hand Calibration from 2D Measurements Using Planar Constraints

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Abstract

This article presents a linear, iterative method to solve the eye-to-hand calibration problem between a wrist-mounted laser scanner and the tool flange of a robot. Measurement data are acquired from a set of non parallel planes whereafter the plane equations and desired rigid transformation matrix are found in a two-step, iterative fashion. The method is shown to handle large error in the initial estimate of the transform and results are verified in both simulations and experiments using a seam tracking laser sensor for welding applications.
Original languageEnglish
Title of host publication2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
EditorsAlois Knoll
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages3628-3632
Number of pages5
DOIs
Publication statusPublished - 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems , 2015 - Hamburg, Hamburg, Germany
Duration: 2015 Sept 282015 Oct 2

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems , 2015
Abbreviated titleIROS2015
Country/TerritoryGermany
CityHamburg
Period2015/09/282015/10/02

Subject classification (UKÄ)

  • Robotics

Free keywords

  • calibration
  • laser scanner
  • eye to hand
  • eye in hand
  • kinematic calibration

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