Robot calibration using mobile camera

This paper describes a new calibration method for robot manipulators using a mobile TV camera and 3D digitizer. This method is motivated by the need of precisely calibrating a large work space without using special instruments or calibration fixtures. The method uses an innovative kinematic model of the robot-camera system, which permits one to combine, without loss of precision, measurements taken from different camera positions of different work volumes. The method includes algorithms for the selection of robot poses and kinematic parameter identification. Results of simulation tests of a surgical robot are presented.