| Issue |
MATEC Web Conf.
Volume 173, 2018
2018 International Conference on Smart Materials, Intelligent Manufacturing and Automation (SMIMA 2018)
|
|
|---|---|---|
| Article Number | 02005 | |
| Number of page(s) | 5 | |
| Section | Automation and Nontraditional Manufacturing | |
| DOI | https://doi.org/10.1051/matecconf/201817302005 | |
| Published online | 19 June 2018 | |
Calibration-Free Robot-Sensor Calibration approach based on Second-Order Cone Programming
1
Beijing University of Posts & Telecommunications, Beijing 100876, China
2
Beijing Information Science & Technology University, Beijing 100192, China
* Corresponding author: liweikilary@163.com
In order to overcome the restrictions of traditional robot-sensor calibration method which solve the tool-camera transformation and robot-world transformation rely on calibration target, a calibration-free approach that solve the robot-sensor calibration problem of the form AX = YB based on Second-Order Cone Programming is proposed. First, a Structure-From-Motion approach was used to recover the camera motion matrix up to scaling. Then rotation and translation matrix in calibration equation were parameterized by dual quaternion theory. Finally, the Second-Order Cone Programming method was used to simultaneously solve the optimal solution of camera motion matrix scale factor, the robot-world and hand-eye relation. The experimental results indicate that the calibration precision of rotation relative error is 3.998% and the translation relative error is 0.117% in defect of calibration target as 3D benchmark. Compared with similar methods, the proposed method can effectively improve the calibration accuracy of the robot-world and hand-eye relation, and extend the application field of robot-sensor calibration method.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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