제어로봇시스템학회:학술대회논문집
- 2000.10a
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- Pages.76-76
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- 2000
Hand/Eye calibration of Robot arms with a 3D visual sensing system
3차원 시각 센서를 탑재한로봇의 Hand/Eye 캘리브레이션
Abstract
The calibration of the robot system with a visual sensor consists of robot, hand-to-eye, and sensor calibration. This paper describe a new technique for computing 3D position and orientation of a 3D sensor system relative to the end effect of a robot manipulator in an eye-on-hand robot configuration. When the 3D coordinates of the feature points at each robot movement and the relative robot motion between two robot movements are known, a homogeneous equation of the form AX : XB is derived. To solve for X uniquely, it is necessary to make two robot arm movements and form a system of two equation of the form: A