A hand–eye calibration algorithm based on screw motions

Authors:
Zijian Zhao;Yuncai Liu
Affiliations:
Institute of image processing and pattern recognition, shanghai jiao tong university, 200240 shanghai, p. r. china;Institute of image processing and pattern recognition, shanghai jiao tong university, 200240 shanghai, p. r. china
Venue:
Robotica
Year:
2009

Citing 3
Cited 1

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A flexible solution to AX=XB for robot hand-eye calibration

ROCOM'10 Proceedings of the 10th WSEAS international conference on Robotics, control and manufacturing technology

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Abstract

When computer vision technique is used in robotics, robotic hand–eye calibration is a very important research task. Many algorithms have been proposed for hand–eye calibration. Based on these algorithms, we introduce a new hand–eye calibration algorithm in this paper, which employs the screw motion theory to establish a hand–eye matrix equation by using quaternion and gets a simultaneous result for rotation and translation by solving linear equations. The algorithm proposed in this paper has high accuracy and stable computational efficiency and can be understood easily. Both simulations and real experiments show the superiority of our algorithm over the comparative algorithms.