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 conferenceObject
URI:	2-s2.0-85097981910 http://hdl.handle.net/11025/42921
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. © IEEE
Appears in Collections:	Konferenční příspěvky / Conference Papers (KKY) Konferenční příspěvky / Conference papers (NTIS) OBD

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