Calibration of a \Self-Viewing" Eye-on-Hand Con guration
نویسندگان
چکیده
We introduce a new calibration concept for eye-on-hand systems based on the self-viewing principle. A conngura-tion where the camera directly observes the gripper ooers new advantages to hand/eye calibration: a) decoupling the calibration process from the robot kinematics ooers a great potential for accuracy, b) performing additional on-line calibration can signiicantly enhance reliability. We make use of both and propose a) a method which calibrates the gripper-to-camera transformation from camera calibration excluding the robot kinematics, and b) a method which monitors and updates the transform from the image of the gripper during operation. The methods are implemented and some experiments are performed to test the reliability of the on-line procedures.
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