Universität Bielefeld - "Graduiertenkolleg Aufgabenorientierte Kommunikation"

Calibration of a "Self-Viewing" Eye-on-Hand Configuration

Peter Meinicke and Jianwei Zhang

Abstract

We introduce a new calibration concept for eye-on-hand systems based on the self-viewing principle. A configuration where the camera directly observes the gripper offers new advantages to hand/eye calibration: a) decoupling the calibration process from the robot kinematics offers a great potential for accuracy, b) performing additional on-line calibration can significantly enhance reliability. We make use of both and propose a) a method which calibrates the gripper-to-camera transformation from camera calibration excluding the robot kinematics, and b) a method which monitors and updates the transform from the image of the gripper during operation. The methods are implemented and some experiments are performed to test the reliability of the on-line procedures.

Postscript-File (~330 k)

Anke Weinberger, 1996-04-25, 1996-05-31