Comments on "Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB" [with reply]

Zhuang, Hanqi; Roth, Zvi S.; Shiu, Yiu Cheung; Ahmad, S.

doi:10.1109/70.105398

Cited by 44 publications

(11 citation statements)

References 5 publications

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“…Any rigid body transformation can be modeled as a rotation in SO(3) by an angle θ about an axis p through the origin, followed by a translation t in 3 . The rotation can thus be represented by three independent parameters -the rotation angle θ and two angles {α, β} defining the axis of rotation p.…”

Section: A Metric For Rotation Errormentioning

confidence: 99%

“…He actually fails to realize the necessity of estimating 0 T b at the same time in order to avoid measurement innacuracies or mistakes and uses ad hoc external measurements for getting it. 3 Approaches that do not rely on a physical model of the system may actually perform on ocassions better if they are purposefully calibrated. We therefore add the adjective model-based to the procedures in this work.…”

Section: Introductionmentioning

confidence: 99%

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Optimal Hand-Eye Calibration

Strobl

Hirzinger

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

248

148

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This paper presents a calibration method for eye-in-hand systems in order to estimate the hand-eye and the robot-world transformations. The estimation takes place in terms of a parametrization of a stochastic model. In order to perform optimally, a metric on the group of the rigid transformations SE(3) and the corresponding error model are proposed for nonlinear optimization. This novel metric works well with both common formulations AX=XB and AX=ZB, and makes use of them in accordance with the nature of the problem. The metric also adapts itself to the system precision characteristics. The method is compared in performance to earlier approaches.

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Section: A Metric For Rotation Errormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimal Hand-Eye Calibration

Strobl

Hirzinger

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

248

148

View full text Add to dashboard Cite

show abstract

“…Both of the simulation and real experiments on an IBM Cartesian robot verified that their method is effective and efficient. Zhuang and Roth (1991) simplified the formulation by introducing quaternions into the expression of rotational component. In the same way, Chou and Kamel (1991) simplified it to a well-structured linear equation: BX ϭ 0, and then found its proper solution with Singular Value Decomposition (SVD).…”

Section: Introductionmentioning

confidence: 99%

A closed-form solution to eye-to-hand calibration towards visual grasping

Pan

Wang

Qin

2014

Industrial Robot: An International Journal

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Richard Bloss, (2014),"Robots have come to architecture to model, construct, fabricate and offer new approaches to create innovative designs, elements and structures", If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to propose a method that calibrates the hand-eye relationship for eye-to-hand configuration and afterwards a rectification to improve the accuracy of general calibration. Design/methodology/approach -The hand-eye calibration of eye-to-hand configuration is summarized as a equation AX ϭ XB which is the same as in eye-in-hand calibration. A closed-form solution is derived. To abate the impact of noise, a rectification is conducted after the general calibration. Findings -Simulation and actual experiments confirm that the accuracy of calibration is obviously improved. Originality/value -Only a calibration plane is required for the hand-eye calibration. Taking the impact of noise into account, a rectification is carried out after the general calibration and, as a result, that the accuracy is obviously improved. The method can be applied in many actual applications.

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“…Tsai andLenz (1988, 1989) developed the closed-form solution by decoupling the problem into two stages, rotation and then translation. Quaternion-based approaches, such as those introduced by Chou and Kamel (1988), Zhuang and Roth (1991) and Horaud and Dornaika (1995), lead to a linear form to solve rotation relationships. To avoid error propagation from the rotation stage to the translation stage, Zhuang and Shiu (1993) developed a nonlinear optimization method with respect to three Euler angles of a rotation and a translation vector.…”

Section: Introductionmentioning

confidence: 99%

Eye‐hand‐workspace calibration using laser pointer projection on plane surface

Chang

2012

Industrial Robot: An International Journal

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Purpose-The purpose of this paper is to propose a calibration method that can calibrate the relationships among the robot manipulator, the camera and the workspace. Design/methodology/approach-The method uses a laser pointer rigidly mounted on the manipulator and projects the laser beam on the work plane. Nonlinear constraints governing the relationships of the geometrical parameters and measurement data are derived. The uniqueness of the solution is guaranteed when the camera is calibrated in advance. As a result, a decoupled multi-stage closed-form solution can be derived based on parallel line constraints, line/plane intersection and projective geometry. The closed-form solution can be further refined by nonlinear optimization which considers all parameters simultaneously in the nonlinear model. Findings-Computer simulations and experimental tests using actual data confirm the effectiveness of the proposed calibration method and illustrate its ability to work even when the eye cannot see the hand. Originality/value-Only a laser pointer is required for this calibration method and this method can work without any manual measurement. In addition, this method can also be applied when the robot is not within the camera field of view.

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Comments on "Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB" [with reply]

Cited by 44 publications

References 5 publications

Optimal Hand-Eye Calibration

Optimal Hand-Eye Calibration

A closed-form solution to eye-to-hand calibration towards visual grasping

Eye‐hand‐workspace calibration using laser pointer projection on plane surface

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