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

Authors: Li, Aiguo¹; Ma, Zi¹; Wu, Defeng²

Source: International Journal of Modelling, Identification and Control, Volume 6, Number 3, 5 April 2009 , pp. 263-269(7)

Publisher: Inderscience Publishers

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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: TECHNICAL JOURNALS; Electronic Systems, Control and Artificial Intelli; Simulation and Modelling

Document Type: Research article

DOI: http://dx.doi.org/10.1504/IJMIC.2009.024466

Affiliations: 1: Automation Research Centre, Dalian Maritime University, Dalian 116026, Peoples Republic of China. 2: Automation Research Centre, Dalian Maritime University, Dalian 116026, Peoples Republic of China

Publication date: 2009-04-05

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International Journal of Modelling Identification and Control publishes original papers, review papers, technical reports, book reviews, commentaries, and news. Special Issues devoted to important topics in nonlinear dynamic system modelling, identification and control will be occasionally published.
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