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.
|出版ステータス||Published - 2003|
|イベント||Proceedings of 2003 IEEE Conference on Control Applications - Istanbul, Turkey|
継続期間: 2003 6月 23 → 2003 6月 25
|Other||Proceedings of 2003 IEEE Conference on Control Applications|
|Period||03/6/23 → 03/6/25|
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