A new technique for fully autonomous and efficient 3D robotics hand/eye calibration

@article{Tsai1989ANT,
  title={A new technique for fully autonomous and efficient 3D robotics hand/eye calibration},
  author={R. Tsai and R. Lenz},
  journal={IEEE Trans. Robotics Autom.},
  year={1989},
  volume={5},
  pages={345-358}
}
  • R. Tsai, R. Lenz
  • Published 1989
  • Computer Science, Engineering
  • IEEE Trans. Robotics Autom.
The authors describe a novel technique for computing position and orientation of a camera relative to the last joint of a robot manipulator in an eye-on-hand configuration. It takes only about 100+64N arithmetic operations to compute the hand/eye relationship after the robot finishes the movement, and incurs only additional 64 arithmetic operations for each additional station. The robot makes a series of automatically planned movements with a camera rigidly mounted at the gripper. At the end of… Expand
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