Title :
Computer vision based calibration of the purely translational Orthopod manipulator
Author :
Lou, Yunjiang ; Chen, Tieniu ; Wu, Yuanqing ; Liu, Guanfeng
Author_Institution :
Div. of Control & Mechatron. Eng, Harbin Inst. of Technol., Shenzhen, China
Abstract :
In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is verified using a simple yet practical experiment. Then we perform manipulator calibration using its inverse kinematics model. To evaluate the vision-based kinematic calibration method, we let the end-effector undergo a uniaxial translation and observe its leg parallelism. Experiment data verifies the effectiveness and flexibility of the proposed calibration method.
Keywords :
calibration; cameras; end effectors; manipulator kinematics; robot vision; Costar SI-M350 CCD camera; TEC-M12 lens; computer vision based calibration; end- effector; flexible measuring system; inverse kinematics model; kinematic calibration method; leg parallelism; parallel mechanism; translational orthopod manipulator; uniaxial translation; Assembly; Automation; Calibration; Cameras; Computer vision; Costs; Kinematics; Manipulator dynamics; Manufacturing; Solid modeling; computer vision; kinematic calibration; parallel manipulators;
Conference_Titel :
Information and Automation, 2009. ICIA '09. International Conference on
Conference_Location :
Zhuhai, Macau
Print_ISBN :
978-1-4244-3607-1
Electronic_ISBN :
978-1-4244-3608-8
DOI :
10.1109/ICINFA.2009.5205136
