SIMULTANEOUS CAMERA AND HAND-EYE CALIBRATION FOR EYE-ON-HAND SYSTEMS

  • Nguyen Huu Hung Le Quy Don Technical University
  • Nguyen Quang Thi Le Quy Don Technical University
  • Tran Cong Manh Le Quy Don Technical University

Tóm tắt

Determination of the location and orientation of objects in the robot workspace is a fundamental function of manufacturing automation. This problem is solved by using a robot vision system with a camera mounted on the robot end-effector with a known hand-eye transformation. In this case, a viable solution to deal with the complexity of calibration is of necessity, including the calibration of internal and external parameters associated with the camera as well as the calibration of the hand-eye parameters. To this end, the paper presents a simple and efficient method of calibration for a camera-on-hand system, where the internal and external parameters of a 2D camera as well as the hand-eye parameters are simultaneously calibrated. The method is based on the 3D-to-2D projections of a calibrationblock with minimum two pure translations and two pure rotations of hand motions. Being evaluated on simulation data and real robot vision system indicate that our method can work stably with different noise and number of stations.

điểm /   đánh giá
Phát hành ngày
2021-05-17
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