NDLI: Kinematic calibration of manipulator using single laser pointer

Content Provider	IEEE Xplore Digital Library
Author	Jwu-Sheng Hu Jyun-Ji Wang Yung-Jung Chang
Copyright Year	2012
Description	Author affiliation: Mechanical and Systems Research Laboratories, Industrial Technology Research Institute and the Department of Electrical Engineering, National Chiao-Tung University, Hsinchu 310, Taiwan, R.O.C. (Jwu-Sheng Hu; Yung-Jung Chang) \|\| Department of Electrical Engineering, National Chiao-Tung University, Taiwan (Jyun-Ji Wang)
Abstract	This paper proposes a robot kinematic calibration system including a laser pointer installed on the manipulator, a stationary camera, and a planar surface. The laser pointer beams to the surface, and the camera observes the projected laser spot. The position of the laser spot is computed according to the geometrical relationships of line-plane intersection. The laser spot position is sensitive to slight difference of the end-effector pose due to the extensibility of laser beam. Inaccurate kinematic parameters cause inaccurate calculation of the end-effector pose, and then the laser spot position by the forward estimation is deviated from the one by camera observation. For calibrating the robot kinematics, the optimal solution of kinematic parameters is obtained by minimizing the laser spot position difference between the forward estimation and camera measurement via the nonlinear optimization method. The proposed kinematic calibration system is cost-efficient and flexible for any manipulator. The proposed method is validated by simulation and experiment.
Starting Page	426
Ending Page	430
File Size	553888
Page Count	5
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385531
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Calibration Cameras Kinematics Manipulators Laser beams Measurement by laser beam
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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