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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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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Abstract 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.
AbstractList 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.
Author Lenz, M
Ruther, M
Bischof, H
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  fullname: Bischof, H
  email: bischof@icg.tugraz.at
  organization: Inst. for Comput. Graphics & Vision, Graz Univ. of Technol., Graz, Austria
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Snippet 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...
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StartPage 169
SubjectTerms Calibration
Cameras
catadioptric stereo
eye-hand calibration
kinematic refinement
Kinematics
Mirrors
Robot kinematics
Robot vision systems
Title The narcissistic robot: Robot calibration using a mirror
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