Research on the Hand-eye calibration Method Based on Monocular Robot

Abstract The measurement system is composed of a single camera and a manipulator, and the conversion relationship between the manipulator tool coordinate system and the camera coordinate system is one of the key technologies of the system. This paper proposes a unit octet hand-eye calibration algori...

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Bibliographic Details
Published inJournal of physics. Conference series Vol. 1820; no. 1; p. 12007
Main Authors Deng, Shichao, Mei, Feng, Yang, Long, Liang, Chenguang, Jiang, Yingliang, Yu, Gaoxing, Chen, Yihai
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.03.2021
Subjects
Algorithms
Calibration
Cameras
Conversion
Coordinates
Kinematics
Manipulators
Physics
Quaternions
Robot arms
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Summary:Abstract The measurement system is composed of a single camera and a manipulator, and the conversion relationship between the manipulator tool coordinate system and the camera coordinate system is one of the key technologies of the system. This paper proposes a unit octet hand-eye calibration algorithm, which has better accuracy and anti-noise ability. This algorithm combines the characteristics of data on SO(4) on the basis of traditional dual quaternion, and establishes the conversion equation of AX=XB in combination with robot kinematics, and realizes the eye calibration of the manipulator. Compared with the traditional dual quaternion algorithm, the speed is faster, the robustness is good, and it has better stability and practicability.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1820/1/012007