Title: Hand-to-eye calibration for 3D surface digitalisation system

Authors: Aiguo Li, Zi Ma, Defeng Wu

Addresses: Automation Research Centre, Dalian Maritime University, Dalian 116026, Peoples Republic of China. ' Automation Research Centre, Dalian Maritime University, Dalian 116026, Peoples Republic of China. ' Automation Research Centre, Dalian Maritime University, Dalian 116026, Peoples Republic of China

Abstract: Main contributions of this paper include: 1 a platform composed of a laser-stripe vision sensor and an industrial robot is established for 3D surface digitalisation; 2 a mathematic model for measuring system is constructed by using homogenous coordinate transform principle and Denavit-Hartenberg notation; 3 the hand-to-sensor parameters are estimated by means of measuring a reference plane with unknown orientation and position information. Test results of both simulation and real experiments on a Yaskawa robot are reported and analysed.

Keywords: hand-to-sensor calibration; laser-stripe vision sensors; 3D surface digitalisation; reference plane; mathematical modelling; robot simulation; robot calibration; robot sensors; robot hands.

DOI: 10.1504/IJMIC.2009.024466

International Journal of Modelling, Identification and Control, 2009 Vol.6 No.3, pp.263 - 269

Published online: 05 Apr 2009 *

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