Title :
Hand-eye calibration of hand-mounted laser range finder robot system
Author :
Li, Aiguo ; Ma, Zi ; Tian, Yuan ; Xu, Huipu
Author_Institution :
Autom. Res. Center, Dalian Maritime Univ., Dalian
Abstract :
A robot with a laser range finder to its hand is presented for non-contact measuring. The transformation from the hand frame to the finder frame is transformed to an optimization problem by measuring a radii-known ball with unknown position information. Test results of real experiments on a motoman robot are reported and analyzed.
Keywords :
automatic optical inspection; calibration; image sensors; industrial robots; laser ranging; manufactured products; mobile robots; nonlinear programming; robot vision; hand-eye calibration; hand-mounted laser range finder robot system; manufactured good inspection; noncontact measuring; nonlinear optimization problem; robot vision system; Calibration; Cameras; Coordinate measuring machines; Distortion measurement; Laser beams; Laser modes; Laser noise; Robot kinematics; Robot sensing systems; Surface emitting lasers; hand-eye calibration; laser range finder; robot inspection system;
Conference_Titel :
Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-2799-4
Electronic_ISBN :
978-1-4244-2800-7
DOI :
10.1109/ICIEA.2009.5138671
