Hand-Eye Calibration of a Robot-Based Inspection System
A robot with a laser range finder to its hand is presented for the inspection of manufactured parts. The transformation from the hand frame to the finder frame is transformed to an optimization problem by measuring a radii-known ball with unknown position information. Test results of real experiments on a motoman robot are reported and analyzed.
A. G. Li and W. B. Wang, "Hand-Eye Calibration of a Robot-Based Inspection System", Advanced Materials Research, Vols. 383-390, pp. 5050-5054, 2012