Hand/Eye Calibration Using 3D-3D Correspondences

Dong Whan Kim; Jong Eun Ha

doi:10.4028/www.scientific.net/AMM.319.532

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 319Hand/Eye Calibration Using 3D-3D Correspondences

Hand/Eye Calibration Using 3D-3D Correspondences

Abstract:

In industrial application, robots do the operations that have predefined location taught by teaching pendant. Recently, sensors including camera and laser range finder are used together with robot to expand the capabilities of the robot. Hand/eye calibration is the first necessary step to transform sensor based measurements into the robot coordinate system. Traditional hand/eye calibration algorithm used known robot motions. Kinect is used as the 3D sensor and chessboard markers are attached on the robot’s arm. In this paper, we solve hand/eye calibration using 3D-3D correspondences.

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Periodical:

Applied Mechanics and Materials (Volume 319)

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532-535

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.319.532

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Online since:

May 2013

Authors:

Dong Whan Kim, Jong Eun Ha

Keywords:

Hand/Eye Calibration, Manipulation, Robot Arm

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