An Automated Camera Orientation Recovery Algorithm for an Eye-in-hand Robotic Manipulator

A novel approach to recovering the camera orientation of an eye-in-hand robotic manipulator is presented in this paper. The algorithm is completely automated, iteratively performing a sequence of rotations and translations until the camera frame is aligned with the manipulator´s world frame. The manipulator must be able to translate and rotate its end-effector with respect to its world frame. We have fully implemented and tested the system on a Stdubli RX60 manipulator using an off-the-shelf Logitech USB camera.