{"title":"An automated method to robot calibration using line-structure-light vision sensor","authors":"Wenbiao Wang, A. Li, Zi Ma, Huipu Xu, Yuan Tian","doi":"10.1109/ICAL.2009.5262655","DOIUrl":null,"url":null,"abstract":"An industrial robot calibration algorithm is presented, which uses a line-structure-light sensor. In the proposed method, the sensor is attached to the robot's end-effector and the centre of a ball with known radius is regarded as a virtue point and the robot carries the sensor to measure this virtue point. The kinematic parameters of the robot are estimated due to the coordinates of the virtue point is invariable in robot base frame. An example verifies the effectiveness of the proposed method.","PeriodicalId":140270,"journal":{"name":"2009 IEEE International Conference on Automation and Logistics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 IEEE International Conference on Automation and Logistics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAL.2009.5262655","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
An industrial robot calibration algorithm is presented, which uses a line-structure-light sensor. In the proposed method, the sensor is attached to the robot's end-effector and the centre of a ball with known radius is regarded as a virtue point and the robot carries the sensor to measure this virtue point. The kinematic parameters of the robot are estimated due to the coordinates of the virtue point is invariable in robot base frame. An example verifies the effectiveness of the proposed method.
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