A noise-tolerant algorithm for robotic hand-eye calibration with or without sensor orientation measurement

@article{Zhuang1993ANA,
  title={A noise-tolerant algorithm for robotic hand-eye calibration with or without sensor orientation measurement},
  author={Hanqi Zhuang and Yiu Cheung Shiu},
  journal={IEEE Trans. Systems, Man, and Cybernetics},
  year={1993},
  volume={23},
  pages={1168-1175}
}
An iterative algorithm for calibration of a robotic hand-eye relationship is presented. The hand-eye calibration can be performed by solving a system of homogeneous transformation equations of the form A,X = X B , , where X is the unknown sensor position relative to the robot wrist, A, is the zth robot motion, and E, is the ath sensor motion. Unlike existing approaches, the algorithm presented here solves kinematic parameters of X in one stage, thus eliminating error propagation and improving… CONTINUE READING

Figures, Tables, and Topics from this paper.

Citations

Publications citing this paper.
SHOWING 1-10 OF 36 CITATIONS

Optimal hand-eye calibration of IMU and Camera

  • 2017 Chinese Automation Congress (CAC)
  • 2017
VIEW 5 EXCERPTS
CITES METHODS
HIGHLY INFLUENCED

Hand-eye calibration using convex optimization

  • 2011 IEEE International Conference on Robotics and Automation
  • 2011
VIEW 5 EXCERPTS
CITES METHODS
HIGHLY INFLUENCED

A Noise-Tolerant Algorithm for Robot-Sensor Calibration Using a Planar Disk of Arbitrary 3-D Orientation

  • IEEE Transactions on Automation Science and Engineering
  • 2018
VIEW 1 EXCERPT
CITES BACKGROUND

Iterative Refinement of Hand-Eye Calibration

  • 2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)
  • 2018
VIEW 2 EXCERPTS
CITES METHODS

Finding the Kinematic Base Frame of a Robot by Hand-Eye Calibration Using 3D Position Data

  • IEEE Transactions on Automation Science and Engineering
  • 2017
VIEW 1 EXCERPT
CITES BACKGROUND

Simultaneous hand-eye calibration and reconstruction

  • 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2017
VIEW 2 EXCERPTS
CITES METHODS

References

Publications referenced by this paper.
SHOWING 1-10 OF 11 REFERENCES

automating the knowledge acquisition process for expert systems (see Manuscript received May

K.P.S. Sastry
  • 1992

Determinination of optimal measurement configurations for robot calibration based on observability measure,’

J. H. Bonn, C. H. Menq
  • Int. J . Robotics Res.,
  • 1991

wrist-mounted robotic sensors by solving homogeneous transform equations of the form A X = XB’,

R. Y. Tsai
  • IEEE Trans. Robotics Automat.,
  • 1991

Similar Papers

Loading similar papers…