NDLI: Real time versatile robotics hand/eye calibration using 3D machine vision

Content Provider	IEEE Xplore Digital Library
Author	Tsai, R.Y. Lenz, R.K.
Copyright Year	1988
Description	Author affiliation: IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA (Tsai, R.Y.; Lenz, R.K.)
Abstract	A technique is described for computing 3-D position and orientation of a camera relative to the last joint of a robot manipulator in an eye-on-hand configuration. The calibration can be done within a fraction of a millisecond after the robot finishes the movement. The setup is simple (a planar set of calibration points arbitrarily placed on the work table, in addition to robot and camera) and is the same as that for a common camera calibration. This method is claimed to be faster, simpler, and more accurate than any existing technique for hand/eye calibration. Generic geometric properties of lemmas are presented, leading to the derivation of the final algorithms, which are aimed at simplicity, efficiency, and accuracy while giving ample geometric and algebraic insights. Besides describing the technique, critical factors influencing the accuracy are analysed, and procedures for improving accuracy are introduced. Tests results of both simulation and real experiments on an IBM Cartesian robot are reported.
Starting Page	554
Ending Page	561
File Size	790815
Page Count	8
File Format	PDF
ISBN	0818608528
DOI	10.1109/ROBOT.1988.12110
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-04-24
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot vision systems Calibration Machine vision Robot kinematics Cameras Grippers Manipulators Stereo vision Large-scale systems
Content Type	Text
Resource Type	Article

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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