Title :
Kinematic calibration system of robot hands using vision cameras
Author :
Sang-Mun Lee ; Kyoung-Don Lee ; Sang-Hyuek Jung ; Tae-Sung Noh
Author_Institution :
Inst. for Adv. Eng., Yongin, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
Kinematic calibration system for humanoid robot hands was developed using vision cameras and alignment stages. Analysis of vision images of visual marks attached on the finger skin could give accurate joint coordinates of all finger joints through calibration process. This system consists of image calibration, stage alignment, mark image analysis, error estimate of joint coordinates, and finally calibrated kinematics of robot hand.
Keywords :
calibration; humanoid robots; manipulator kinematics; robot vision; alignment stages; calibration process; error estimation; finger skin; humanoid robot hands; image calibration; joint coordinates; kinematic calibration system; mark image analysis; stage alignment; vision cameras; vision image analysis; Finger joint error; Kinematic Calibration; Robot Hand; Vision Camera;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677506
