A low cost hand-eye calibration method for arc welding robots

  • Authors:

  • Mitchell Dinham;Gu Fang

  • Affiliations:

  • School of Engineering, The University of Western Sydney, Australia;The School of Engineering, The University of Western Sydney, Australia

  • Venue:
  • ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
  • Year:
  • 2009

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Abstract

Hand-eye calibration is one of the most important and fundamental tasks in performing visual guided robot control tasks. Many techniques have been proposed that use various expensive equipment ranging from a three dimensional positioning device to a laser measurement device. The work presented in this paper aims at developing a low cost robot hand/eye calibration method that is accurate and robust enough to be used in a robotic arc welding system. The proposed calibration method allows the camera and object frames to be referenced directly to the robots base coordinate frame. Experimental results show that the developed method can be used to achieve a calibration accuracy of 1 mm (in the directions of interest, X and Y axes) that is acceptable for robotic welding applications.