Adaptive motion selection for online hand–eye calibration

Authors:
Jing Zhang;Fanhuai Shi;Yuncai Liu
Affiliations:
Institute of Image Processing and Pattern Recognition, Shanghai Jiao Tong University, Shanghai, 200240, P.R. China.;School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, P.R. China. E-mails: fhshi@sjtu.edu.cn, whomliu@sjtu.edu.cn;School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, P.R. China. E-mails: fhshi@sjtu.edu.cn, whomliu@sjtu.edu.cn
Venue:
Robotica
Year:
2007

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Abstract

While a robot moves, online hand–eye calibration to determine the relative pose between the robot gripper/end-effector and the sensors mounted on it is very important in a vision-guided robot system. During online hand–eye calibration, it is impossible to perform motion planning to avoid degenerate motions and small rotations, which may lead to unreliable calibration results. This paper proposes an adaptive motion selection algorithm for online hand–eye calibration, featured by dynamic threshold determination for motion selection and getting reliable hand–eye calibration results. Simulation and real experiments demonstrate the effectiveness of our method.