A closed-form solution to eye-to-hand calibration towards visual grasping. Issue 6 (14th October 2014)

• Record Type: Journal Article
• Authors: Pan, Hui; Li Wang, Na; Shi Qin, Yin
• Is Part Of: Industrial robot. Volume 41:Issue 6(2014)
• Page Start: 567
• Page End: 574
• Publication Date: 2014-10-14
• Subjects: Robots, Industrial -- Periodicals; Machinery in the workplace -- Periodicals; 629.892
• DOI: 10.1108/IR-07-2014-0365
• Languages: English
• ISSNs: 0143-991X

Abstract

<abstract> <title> <x content-type="archive" xml:space="preserve">Abstract</x> </title> <sec> <title content-type="abstract-heading">Purpose</title> <p> – The purpose of this paper is to propose a method that calibrates the hand-eye relationship for eye-to-hand configuration and afterwards a rectification to improve the accuracy of general calibration. </p> </sec> <sec> <title content-type="abstract-heading">Design/methodology/approach</title> <p> – The hand-eye calibration of eye-to-hand configuration is summarized as a equation AX = XB which is the same as in eye-in-hand calibration. A closed-form solution is derived. To abate the impact of noise, a rectification is conducted after the general calibration. </p> </sec> <sec> <title content-type="abstract-heading">Findings</title> <p> – Simulation and actual experiments confirm that the accuracy of calibration is obviously improved. </p> </sec> <sec> <title content-type="abstract-heading">Originality/value</title> <p> – Only a calibration plane is required for the hand-eye calibration. Taking the impact of noise into account, a rectification is carried out after the general calibration and, as a result, that the accuracy is obviously improved. The method can be applied in many actual applications.</p> </sec> </abstract>