Abstract
Robot-world calibration and hand-eye calibration are fundamental steps for robots equipped with cameras. This problem is described as solving “AX = YB” equation. However, this problem usually interacts with robot calibration, because robot geometric parameters are not very precise. Therefore, we propose a novel calibration method which can calibrate hand-eye relationship, robot-world relationship and robot geometric parameters simultaneously. This method considers hand-eye relationship and robot-world relationship as another two axes of robot arm. Modified D-H convention is used to describe robot position and orientation and stereo cameras are used to measure positioning errors. In order to improve calibration accuracy, least square method is introduced to solve calibration equations. Simulation and implement prove that this overall calibration method is feasible.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Flandin, G., Chaumette, F., Marchand, E.: Eye-in-hand/eye-to-hand cooperation for visual servoing. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2000, pp. 2741–2746 (2000)
Puskorius, G., Feldkamp, L.: Global calibration of a robot/vision system. In: Proceedings of the 1987 IEEE International Conference on Robotics and Automation, pp. 190–195 (1987)
Shiu, Y.C., Ahmad, S.: Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX = XB. IEEE Trans. Rob. Autom. 5, 16–29 (1989)
Tsai, R.Y., Lenz, R.K.: A new technique for fully autonomous and efficient 3D robotics hand/eye calibration. IEEE Trans. Robot. Autom. 5, 345–358 (1989)
Park, F.C., Martin, B.J.: Robot sensor calibration: solving AX = XB on the Euclidean group. IEEE Trans. Robot. Autom. 10, 717–721 (1994)
Chou, J.C., Kamel, M.: Finding the position and orientation of a sensor on a robot manipulator using quaternions. Int. J. Rob. Res. 10, 240–254 (1991)
Liang, R.-H., Mao, J.-F.: Hand-eye calibration with a new linear decomposition algorithm. J. Zhejiang Univ. Sci. A 9, 1363–1368 (2008)
Chen, H.H.: A screw motion approach to uniqueness analysis of head-eye geometry. In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 1991, pp. 145–151 (1991)
Daniilidis, K., Bayro-Corrochano, E.: The dual quaternion approach to hand-eye calibration. In: Proceedings of the 13th International Conference on Pattern Recognition, pp. 318–322 (1996)
Wei, G.-Q., Arbter, K., Hirzinger, G.: Active self-calibration of robotic eyes and hand-eye relationships with model identification. IEEE Trans. Robot. Autom. 14, 158–166 (1998)
Zuang, H., Shiu, Y.C.: A noise-tolerant algorithm for robotic hand-eye calibration with or without sensor orientation measurement. IEEE Trans. Syst. Man Cybern. 23, 1168–1175 (1993)
Wang, C.-C.: Extrinsic calibration of a vision sensor mounted on a robot. IEEE Trans. Robot. Autom. 8, 161–175 (1992)
Li, A., Wang, L., Wu, D.: Simultaneous robot-world and hand-eye calibration using dual-quaternions and Kronecker product. Int. J. Phys. Sci. 5, 1530–1536 (2010)
Hanqi, Z., Roth, Z.S., Sudhakar, R.: Simultaneous robot/world and tool/flange calibration by solving homogeneous transformation equations of the form AX = YB. IEEE Trans. Robot. Autom. 10, 549–554 (1994)
Hirsh, R.L., DeSouza, G.N., Kak, A.C.: An iterative approach to the hand-eye and base-world calibration problem. In: Proceedings of the 2001 IEEE International Conference on Robotics and Automation, ICRA 2001, pp. 2171–2176 (2001)
Kim, S.-J., Jeong, M.-H., Lee, J.-J., Lee, J.-Y., Kim, K.-G., You, B.-J., et al.: Robot head-eye calibration using the minimum variance method. In: 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1446–1451 (2010)
Hayati, S., Tso, K., Roston, G.: Robot geometry calibration. In: Proceedings of the 1988 IEEE International Conference on Robotics and Automation, vol. 2, pp. 947–951 (1988)
Hayati, S.A.: Robot arm geometric link parameter estimation. In: The 22nd IEEE Conference on Decision and Control, pp. 1477–1483 (1983)
Stone, H.W., Sanderson, A.C.: Statistical performance evaluation of the S-model arm signature identification technique. In: Proceedings of the 1988 IEEE International Conference on Robotics and Automation, vol. 2, pp. 939–946 (1988)
Zhuang, H., Roth, Z.S., Hamano, F.: A complete and parametrically continuous kinematic model for robot manipulators. In: Proceedings of the 1990 IEEE International Conference on Robotics and Automation, vol. 1, pp. 92–97 (1990)
Chen, I.M., Yang, G., Tan, C.T., Yeo, S.H.: Local POE model for robot kinematic calibration. Mech. Mach. Theory 36, 1215–1239 (2001)
Ying, B., Hanqi, Z., Roth, Z.S.: Experiment study of PUMA robot calibration using a laser tracking system. In: Proceedings of the 2003 IEEE International Workshop on Soft Computing in Industrial Applications, SMCia 2003, pp. 139–144 (2003)
Nubiola, A., Bonev, I.A.: Absolute calibration of an ABB IRB 1600 robot using a laser tracker. Robot. Comput.-Integr. Manuf. 29, 236–245 (2013)
Wu, Y., Klimchik, A., Caro, S., Furet, B., Pashkevich, A.: Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments. Robot. Comput.-Integr. Manuf. 35, 151–168 (2015)
Driels, M.R., Swayze, W., Potter, S.: Full-pose calibration of a robot manipulator using a coordinate-measuring machine. Int. J. Adv. Manuf. Technol. 8, 34–41 (1993)
Nubiola, A., Bonev, I.A.: Absolute robot calibration with a single telescoping ballbar. Precis. Eng. 38, 472–480 (2014)
Meng, Y., Zhuang, H.: Autonomous robot calibration using vision technology. Robot. Comput.-Integr. Manuf. 23, 436–446 (2007)
Du, G., Zhang, P.: Online robot calibration based on vision measurement. Robot. Comput.-Integr. Manuf. 29, 484–492 (2013)
Švaco, M., Šekoranja, B., Šuligoj, F., Jerbić, B.: Calibration of an industrial robot using a stereo vision system. Procedia Eng. 69, 459–463 (2014)
Du, G., Zhang, P., Li, D.: Online robot calibration based on hybrid sensors using Kalman Filters. Robot. Comput.-Integr. Manuf. 31, 91–100 (2015)
Acknowledgment
The research was performed at the Robotics Institute, Beihang University, under contract with Commercial Aircraft Corporation of China. The authors would like to thank all participants in this research for their contribution and assist.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Liu, Y., Yuan, P., Chen, D., Su, F., Xue, L. (2017). Simultaneous Calibration of Hand-Eye Relationship, Robot-World Relationship and Robot Geometric Parameters with Stereo Vision. In: Sun, F., Liu, H., Hu, D. (eds) Cognitive Systems and Signal Processing. ICCSIP 2016. Communications in Computer and Information Science, vol 710. Springer, Singapore. https://doi.org/10.1007/978-981-10-5230-9_45
Download citation
DOI: https://doi.org/10.1007/978-981-10-5230-9_45
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-5229-3
Online ISBN: 978-981-10-5230-9
eBook Packages: Computer ScienceComputer Science (R0)