| Authors |
Rüther Matthias, Lenz Martin, Bischof Horst |
| Appeared in |
Proceedings of International Conference on Control, Automation, Robotics and Vision (ICARCV) |
| Publisher |
IEEE, |
| Organization |
IEEE |
| Date |
2010 |
| Abstract |
We present a novel method for calibration of a robotic manipulator. The robot kinematic chain and its tool are observed by a hand mounted camera through a mirror. We show the possibility of enabling hand-eye, hand-tool, and kinematic robot calibration without incorporating accurate external references, except the mirror. Using this particularly simple setup, hand-eye calibration becomes independent of the kinematic chain and parameter observability constraints in kinematic calibration become more relaxed, which makes pose planning for robot calibration more convenient. |
| Link |
N/A |
