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A HAND-EYE CALIBRATION METHOD FOR 6 DOF ROBOT

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Abstract

For robotic hand-eye calibration, the most important procedure is to solve the hand-eye rotation matrix R and the hand-eye translation matrix T. An effective method is proposed for solving them in this paper, which combines the advantage of the high precision of traditional calibration method with active visual method. The parameters for solving the hand-eye rotation matrix R are found by making the robot perform twice orthogonal translational motion and photographing the calibration plate in each position separately, and the parameters for solving the hand-eye translation matrix T are found by moving the robot to the origin of the calibration plate. The Independently developed Ping-Fang six DOF robot is used as the experiment object to calculate the hand-eye relation matrix of the proposed method. The conducted experiment demonstrate that the accuracy of the proposed method is higher, and it is easier to implement because there is no need to solve the complicated traditional equation

Topics: Hand-eye calibration, Robot, Translation motion, End-effector
Year: 2016
OAI identifier: oai:CiteSeerX.psu:10.1.1.735.8109
Provided by: CiteSeerX
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