Title: Finding Optimal Sensor Positions for Hand-Eye Calibration
Authors: Chaluš, Michal
Vaníček, Ondřej
Liška, Jindřich
Citation: CHALUŠ, M. VANÍČEK, O. LIŠKA, J.Finding Optimal Sensor Positions for Hand-Eye Calibration. In: Proceedings of the 2020 21st International Carpathian Control Conference (ICCC). New York: IEEE, Inc., 2020. ISBN 978-1-72811-951-9.
Issue Date: 2020
Publisher: IEEE, Inc.
Document type: konferenční příspěvek
URI: 2-s2.0-85097981910
ISBN: 978-1-72811-951-9
Keywords in different language: hand-eye calibration, optimal generator, robot, laser profile scanner, laser welding, seam tracking
Abstract in different language: A hand-eye calibration is used to find the relative position between a robot flange and a mounted sensor, which is a very important knowledge for the automatic control of robotic laser welding systems. Most of the articles deal with a mathematical solution of the equation AX = XB, but also the input relative changes of flange positions A and sensor positions B are an important factor for calibration accuracy. Mainly the errors of the matrices A and B, which depend on the specific calibration positions. This paper first describes the parameters affecting the accuracy of matrices A and B. Subsequently, the proposal of the optimal generator of the calibration positions is presented. The proposed algorithm is finally verified in simulations.
Rights: Plný text je přístupný v rámci univerzity přihlášeným uživatelům.
Appears in Collections:Konferenční příspěvky / Conference Papers (KKY)
Konferenční příspěvky / Conference papers (NTIS)

Files in This Item:
File SizeFormat 
Chalus2020_Finding_Optimal_Sensor_Positions.pdf206,1 kBAdobe PDFView/Open    Request a copy

Please use this identifier to cite or link to this item: http://hdl.handle.net/11025/42921

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

  1. DSpace at University of West Bohemia
  2. Publikační činnost / Publications
  3. OBD