Simultaneous robot/world and tool/flange calibration by solving homogeneous transformation equations of the form AX=YB

Zhuang, Hanqi; Roth, Zvi S.; Sudhakar, R.

doi:10.1109/70.313105

Cited by 188 publications

(53 citation statements)

References 7 publications

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“…Though different manufactures use different programming languages, it is the basic function of the robot to instruct the position and posture of the tool (welding torch) in the robot base coordinate system after the tool frame is calibrated [18]. The programming process is roughly described as Fig.…”

Section: The Programming Methodsmentioning

confidence: 99%

“…12 Snapshots of the simulation process the simulation platform. The rotation of the pipes is driven by the rotation angle β (12), and the motion of the welding torch is driven by the base coordinates of TCP (18). The parameters used are listed in Table 1.…”

Section: The Simulation and Welding Experiments 71 Three Dimensional mentioning

confidence: 99%

“…Parameters [x B , y B , z B , R X , R Y , R Z ] T are the base coordinates of TCP (18), β is the rotation angle of the positioner (12), and T is the execution time of each motion instruction (20). Load the motion codes with specific format into the robot controller and start welding after necessary preparations.…”

Section: The Welding Experimentsmentioning

confidence: 99%

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Automatic programming for industrial robot to weld intersecting pipes

Shi

Tian

Zhang

2015

Int J Adv Manuf Technol

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An articulated robot cooperated with a positioner is widely used in the field of intersecting pipes welding. In order to resolve the bottlenecks in productivity caused by the burdensome manual teaching process, this article presents an algorithm to generate motion codes for industrial robot to weld intersecting pipes. A unique welding scheme that simplifies welding technology complexity is introduced and adopted. Based on the geometrical model of intersecting pipes with the most complex intersecting mode, the welding trajectory planning is developed which contains posture planning of the welding torch and weaving welding control strategy. Then the welding trajectory is decomposed into the motion of the robot torch and the positioner, and the spatial relationship between the torch and the robot base is described with homogeneous transformation matrix. Finally, an algorithm flow chart with welding speed control strategy is provided for generating robot motion codes. Simulation and welding experiment verify the feasibility of the algorithm.

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Section: The Programming Methodsmentioning

confidence: 99%

Section: The Simulation and Welding Experiments 71 Three Dimensional mentioning

confidence: 99%

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Automatic programming for industrial robot to weld intersecting pipes

Shi

Tian

Zhang

2015

Int J Adv Manuf Technol

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“…The transformations are illustrated by Figure 1. We note here that the labeling of the transformations in our version of the problem is different than that used in the traditional robot-world hand-eye calibration problem [18] in that some matrices are inverted (A, B) and the rest of matrices are exchanged (X, Z). Despite this difference, the linear relationship AX = ZB is still the same in our interpretation of the problem versus others.…”

mentioning

confidence: 99%

“…Given these preliminaries, Zhuang et al [18] formalized the robot-world hand-eye calibration explicitly as the homogeneous matrix equation AX = ZB, where all of the matrices are 4 × 4 matrices, and were the first to provide a method to find solutions for X and Z. Many different positions of the robot and camera are used to generate multiple relationships A i X = ZB i , i ∈ [0, n − 1], where n is the number of robot poses used for the calibration.…”

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confidence: 99%

Solving the robot-world hand-eye(s) calibration problem with iterative methods

Tabb

Yousef

2017

Machine Vision and Applications

105

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Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been modeled as AX = ZB, where X and Z are unknown homogeneous transformation matrices. The successful execution of many robot manipulation tasks depends on determining these matrices accurately, and we are particularly interested in the use of calibration for use in vision tasks. In this work, we describe a collection of methods consisting of two cost function classes, three different parameterizations of rotation components, and separable versus simultaneous formulations. We explore the behavior of this collection We include an Erratum to this version of the paper. Please see Section 7 for details. Robot Base World Camera Robotic manipulator End Effector (Hand) Calibration Object Fig. 1 Hand-Eye Robot-World Calibration: A camera (eye) mounted at the end-effector (hand) of a robot.of methods on real datasets and simulated datasets, and compare to seven other state-of-the-art methods. Our collection of methods return greater accuracy on many metrics as compared to the state-of-the-art. The collection of methods is extended to the problem of robot-world hand-multiple-eye calibration, and results are shown with two and three cameras mounted on the same robot.

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