Computer vision based calibration of the purely translational Orthopod manipulator

In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is veri...

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Bibliographic Details
Published in2009 International Conference on Information and Automation pp. 1404 - 1409
Main Authors Yunjiang Lou, Tieniu Chen, Yuanqing Wu, Guanfeng Liu
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2009
Subjects
Assembly
Automation
Calibration
Cameras
Computer vision
Costs
kinematic calibration
Kinematics
Manipulator dynamics
Manufacturing
parallel manipulators
Solid modeling
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Summary:In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is verified using a simple yet practical experiment. Then we perform manipulator calibration using its inverse kinematics model. To evaluate the vision-based kinematic calibration method, we let the end-effector undergo a uniaxial translation and observe its leg parallelism. Experiment data verifies the effectiveness and flexibility of the proposed calibration method.
ISBN:9781424436071
1424436079
DOI:10.1109/ICINFA.2009.5205136