Title :
Camera assisted calibration of SCARA arms
Author :
Zhuang, Hanqi ; Wu, Wen-Chiang ; Roth, Zvi S.
Author_Institution :
Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
fDate :
12/1/1996 12:00:00 AM
Abstract :
This paper presents some experimental results obtained by applying an approach of Lenz and Tsai (1989) to SCARA arm calibration. A new camera calibration technique, which is singular-free for this type of system, is employed. Several practical recommendations are given for robot users in general and SCARA arm users in particular
Keywords :
calibration; manipulators; robot vision; SCARA arm calibration; camera-assisted calibration; singular-free technique; Arm; Calibration; Cameras; Computational geometry; Grippers; Manipulators; Robot kinematics; Robot vision systems; Robotic assembly; Robotics and automation;
Journal_Title :
Robotics & Automation Magazine, IEEE
