Autonomous robot calibration for hand-eye coordination
International Journal of Robotics Research
Camera Aided Robot Calibration
Camera Aided Robot Calibration
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
Kinematic modeling, identification and compensation of robot manipulators
Kinematic modeling, identification and compensation of robot manipulators
A framework for specification and implementation of program analysis algorithms
A framework for specification and implementation of program analysis algorithms
Numerical Methods for Unconstrained Optimization and Nonlinear Equations (Classics in Applied Mathematics, 16)
Prediction of geometric errors of robot manipulators with Particle Swarm Optimisation method
Robotics and Autonomous Systems
Autonomous robot calibration using vision technology
Robotics and Computer-Integrated Manufacturing
VLSI implementation of an edge-oriented image scaling processor
IEEE Transactions on Very Large Scale Integration (VLSI) Systems
Kinematic-parameter identification for serial-robot calibration based on POE formula
IEEE Transactions on Robotics
Kinematic Calibration of Parallel Mechanisms: A Novel Approach Using Legs Observation
IEEE Transactions on Robotics
Enhanced Stiffness Modeling, Identification and Characterization for Robot Manipulators
IEEE Transactions on Robotics
Simplifying the kinematic calibration of parallel mechanisms using vision-based metrology
IEEE Transactions on Robotics
IEEE Transactions on Robotics
IEEE Transactions on Robotics
An Automated Method to Calibrate Industrial Robots Using a Virtual Closed Kinematic Chain
IEEE Transactions on Robotics
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Robot calibration is a useful diagnostic method to improve positioning accuracy in robot production and maintenance. Unlike traditional calibration methods that require expensive equipment and complex steps, a vision-based online robot calibration method that only requires several reference images is presented in this paper. The method requires a camera that is rigidly attached to the robot end effector (EE), and a calibration board must be settled around the robot where the camera can see it. An efficient automatic approach to detect the corners from the images of the calibration board is proposed. The poses of the robot can be estimated from the detected corners. The kinematic parameters can be conducted automatically based on the known poses of the robot. Unlike in the existing self-calibration methods, the great advantage of this online self-calibration method is that the entire process of robot calibration is automatic and without any manual intervention, enabling the robot calibration to be completed online when the robot is working. Therefore, the proposed approach is particularly suitable for unknown environments, such as deep sea or outer space. In these high-temperature and/or high-pressure environments, the shapes of the robot links are easy to change. Thus, the robot kinematic parameters are changed by allowing the robot to grab objects with different qualities to verify the performance of the online robot calibration. Experimental studies on a GOOGOL GRB3016 robot show that the proposed method has high accuracy, convenience, and high efficiency.