AUTONOMOUS ROBOT CALIBRATION FOR HAND-EYE COORDINATION

被引：54

作者：

BENNETT, DJ ^{[1
]}

GEIGER, D ^{[1
]}

HOLLERBACH, JM ^{[1
]}

机构：

[1] MCGILL UNIV, DEPT BIOMED ENGN, MONTREAL H3A 2B4, QUEBEC, CANADA

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1991年 / 10卷 / 05期

关键词：

D O I：

10.1177/027836499101000510

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Autonomous robot calibration is defined as the process of determining a robot's model by using only its internal sensors. It is shown that autonomous calibration of a manipulator and stereo camera system is possible. The proposed autonomous calibration algorithm may obtain the manipulator kinematic parameters, external kinematic camera parameters, and internal camera parameters. To do this, only joint angle readings and camera image plane data are used. A condition for the identifiability of the manipulator/camera parameters is derived. The method is a generalization of a recently developed scheme for self-calibrating a manipulator by forming it into a mobile closed-loop kinematic chain.

引用

页码：550 / 559

页数：10