Autonomous Robot Calibration for Hand-Eye Coordination
- 1 October 1991
- journal article
- research article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 10 (5), 550-559
- https://doi.org/10.1177/027836499101000510
Abstract
Autonomous robot calibration is defined as the process of determining a robot's model by using only its internal sen sors. It is shown that autonomous calibration of a manip ulator and stereo camera system is possible. The pro posed autonomous calibration algorithm may obtain the manipulator kinematic parameters, external kinematic camera parameters, and internal camera parameters. To do this, only joint angle readings and camera image plane data are used. A condition for the identifiability of the manipulator/camera parameters is derived. The method is a generalization of a recently developed scheme for self- calibrating a manipulator by forming it into a mobile closed-loop kinematic chain.Keywords
This publication has 6 references indexed in Scilit:
- Camera models based on data from two calibration planesComputer Graphics and Image Processing, 1981
- Using perspective transformations in scene analysisComputer Graphics and Image Processing, 1980
- A system for extracting three-dimensional measurements from a stereo pair of TV camerasComputer Graphics and Image Processing, 1978
- On calibrating computer controlled cameras for perceiving 3-D scenesArtificial Intelligence, 1974
- The Mathematics of Coordinated Control of Prosthetic Arms and ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1972
- A Kinematic Notation for Lower-Pair Mechanisms Based on MatricesJournal of Applied Mechanics, 1955