The narcissistic robot: Robot calibration using a mirror

We present a novel method for calibration of a robotic manipulator. The robot kinematic chain and its tool are observed by a hand mounted camera through a mirror. We show the possibility of enabling hand-eye, hand-tool, and kinematic robot calibration without incorporating accurate external referenc...

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Bibliographic Details
Published in2010 11th International Conference on Control Automation Robotics and Vision pp. 169 - 174
Main Authors Ruther, M, Lenz, M, Bischof, H
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.12.2010
Subjects
Calibration
Cameras
catadioptric stereo
eye-hand calibration
kinematic refinement
Kinematics
Mirrors
Robot kinematics
Robot vision systems
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ISBN1424478146
9781424478149
DOI10.1109/ICARCV.2010.5707268

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Summary:We present a novel method for calibration of a robotic manipulator. The robot kinematic chain and its tool are observed by a hand mounted camera through a mirror. We show the possibility of enabling hand-eye, hand-tool, and kinematic robot calibration without incorporating accurate external references, except the mirror. Using this particularly simple setup, hand-eye calibration becomes independent of the kinematic chain and parameter observability constraints in kinematic calibration become more relaxed, which makes pose planning for robot calibration more convenient.
ISBN:1424478146
9781424478149
DOI:10.1109/ICARCV.2010.5707268