An iterative approach in pose measurement through hand-eye calibration

Abdul Muis, Ohnishi Kouhei

Research output: Contribution to conferencePaper

Abstract

Traditionally, the initial pose of robot manipulator has been done manually. The process must be repeated for each operations and each time a robot is replaced. Hence, pose measurement is needed. In this paper, a camera mounted on the end-effecter is employed. Firstly, the position and orientation of camera with respect to the end-effector is solved through AX=XB composition which is known as Hand-Eye calibration. However, this paper proposed a modification with an alteration of notation for A and B in prior. An iterative approach is utilized to obtain X. Afterward, multi-stage and one-stage iterative approaches are proposed in pose measurement to eliminate angle displacements on each joint. The first one uses composition as in Hand-Eye calibration for each joint from the end-effector to robot base. The second one uses one iterative process to solve the entire angle displacements. Simulated data is presented for both results.

Original languageEnglish
Pages983-988
Number of pages6
Publication statusPublished - 2003 Dec 1
EventProceedings of 2003 IEEE Conference on Control Applications - Istanbul, Turkey
Duration: 2003 Jun 232003 Jun 25

Other

OtherProceedings of 2003 IEEE Conference on Control Applications
CountryTurkey
CityIstanbul
Period03/6/2303/6/25

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Keywords

  • Hand-eye calibration
  • Pose measurement

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Muis, A., & Kouhei, O. (2003). An iterative approach in pose measurement through hand-eye calibration. 983-988. Paper presented at Proceedings of 2003 IEEE Conference on Control Applications, Istanbul, Turkey.