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

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Author

Editor

  • Alois Knoll

Summary, in English

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.

Publishing year

2015

Language

English

Pages

3628-3632

Publication/Series

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Robotics

Keywords

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

Conference name

IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015

Conference date

2015-09-28 - 2015-10-02

Conference place

Hamburg, Germany

Status

Published

Project

  • Flexifab
  • LU Robotics Laboratory