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

Author

Van Delden, Sebastian ; Farr, Ricky ; Hensley, Seth

Author_Institution

Div. of Math. & Comput. Sci., South Carolina Upstate Univ., Spartanburg, SC, USA

fYear

2007

fDate

12-13 Oct. 2007

Firstpage

1

Lastpage

6

Abstract

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.

Keywords

cameras; end effectors; manipulators; robot vision; Stdubli RX60 manipulator; automated camera orientation recovery algorithm; camera orientation; eye-in-hand robotic manipulator; off-the-shelf Logitech USB camera; Application software; Calibration; Cameras; Fasteners; Manipulators; Robot kinematics; Robot sensing systems; Robot vision systems; Robotics and automation; Service robots; Camera Calibration; Computer Vision; Eye-in-hand manipulator; Robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotic and Sensors Environments, 2007. ROSE 2007. International Workshop on

Conference_Location

Ottawa, Ont.

Print_ISBN

978-1-4244-1526-7

Electronic_ISBN

978-1-4244-1527-4

Type

conf

DOI

10.1109/ROSE.2007.4373958

Filename

4373958