Simultaneous calibration of hand-eye and kinematics for industrial robot using line-structured light sensor

Cao, Dahu; Liu, Wei; Liu, Shun; Chen, Jia; Liu, Wang; Ge, Jimin; Deng, Zhaohui

doi:10.1016/j.measurement.2023.113508

Cited by 7 publications

(5 citation statements)

References 25 publications

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“…The purpose of hand-eye calibration is to determine the transformation relationship between the two coordinate systems {O L − X L Y L Z L } and {O T − X T Y T Z T } in figure 1, which can be represented by a rotation matrix T L R and a translation vector T L t. An efficient method is called the fixed-point measurement approach [16]. The main idea of this approach is described as follows.…”

Section: Hand-eye Calibrationmentioning

confidence: 99%

“…A minimum of four positions is required to solve T L R and T L t by equation (4). See more details in the [16].…”

Section: Hand-eye Calibrationmentioning

confidence: 99%

“…There is equation (14), We also use linear interpolation method to calculate the robot position. The translation speed between two VMPs can arrive at v t as equation (16). The posture change speed can arrive at v R as equation (15),…”

Section: Plaster Vase Measurement Experimentsmentioning

confidence: 99%

“…The other is planning trajectory to capture the geometry of the entire surface of the workpiece. So the most of relevant researches focus on hand-eye calibration [14][15][16][17][18][19][20] and robot trajectory [10,21]. Hand-eye calibration which is crucial for accurate measurement, has also been extensively investigated [15,[17][18][19][20].…”

Section: Introductionmentioning

confidence: 99%

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A density-controllable 3D measurement system based on linear profile sensor and universal manipulator

Zhao,

Zhang,

2024

Meas. Sci. Technol.

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In order to offer a simple and efficient solution for obtaining point clouds, a modular 3D measurement system that incorporates an LPS mounted on a universal manipulator is developed. Unlike the requirement for electronic connections between the LPS and the robot to achieve hard synchronization, we employ a high-low-frequency collaborative strategy for soft synchronization, thereby eliminating the need for complex hardware synchronization modules. Since soft synchronization lacks the high-speed synchronous data acquisition of hard synchronization, we have also proposed an interpolation method on low density data to generate uniform higher-density point clouds, thus enabling a density-controllable point clouds acquisition approach. Experimental results demonstrate the effectiveness and versatility of the system.

show abstract

Section: Hand-eye Calibrationmentioning

confidence: 99%

“…A minimum of four positions is required to solve T L R and T L t by equation (4). See more details in the [16].…”

Section: Hand-eye Calibrationmentioning

confidence: 99%

Section: Plaster Vase Measurement Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A density-controllable 3D measurement system based on linear profile sensor and universal manipulator

Zhao,

Zhang,

2024

Meas. Sci. Technol.

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show abstract

“…Initially, the transformation relationship between the line laser sensor and the robot flange coordinate system was solved using a calibration method based on a fixed sphere center [6][7][8]. The main principle of this method is based on the fact that a single spherical center is invariant in the robot base coordinate system and a two-step method is used to solve the hand-eye parameters, but the process of judging the missing one-dimensional coordinate symbols is prone to errors, which greatly affects the calibration accuracy.…”

Section: Introductionmentioning

confidence: 99%

Hand-eye calibration of line structured-light sensor based on double-sphere constraints

Ruan,

Deng,

Hao

et al. 2024

J. Phys.: Conf. Ser.

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Aiming at the complex problem of solving the positional relationship between the line laser sensor at the end of the robot wrist and the coordinate system of the end flange, a line laser hand-eye calibration method based on a double ball fixed target is proposed. Firstly, a double standard ball with known radius and center distance is used as a reference tool, and the point cloud data of a single contour line is collected several times, and the coordinates of the two ball centers under the camera coordinate system can be obtained according to the center coordinates of the circle obtained from the fitted circle combined with the Pythagoras theorem. Then, according to the principle that the two spherical centers are fixed under the robot base coordinate system, the rigid transformation matrix between the line laser sensor and the robot is successively solved. When solving the rotation matrix, the constraint of the distance between the spherical centers of the two balls is introduced to obtain a solution with better accuracy. Experimental results show that the method has better overall performance compared with the traditional single-ball hand-eye calibration method.

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Quantification of uncertainty in robot pose errors and calibration of reliable compensation values

Zhang,

Peng,

Yan

et al. 2024

Robotics and Computer-Integrated Manufacturing

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Simultaneous calibration of hand-eye and kinematics for industrial robot using line-structured light sensor

Cited by 7 publications

References 25 publications

A density-controllable 3D measurement system based on linear profile sensor and universal manipulator

A density-controllable 3D measurement system based on linear profile sensor and universal manipulator

Hand-eye calibration of line structured-light sensor based on double-sphere constraints

Quantification of uncertainty in robot pose errors and calibration of reliable compensation values

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