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A closed-form solution to eye-to-hand calibration towards visual grasping

Hui Pan (Beijing Aerospace Automatic Control Institute, Beihang University, Beijing, China)
Na Li Wang (Beijing Aerospace Automatic Control Institute, Beihang University, Beijing, China)
Yin Shi Qin (Beijing Aerospace Automatic Control Institute, Beihang University, Beijing, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 20 October 2014

562

Abstract

Purpose

The purpose of this paper is to propose a method that calibrates the hand-eye relationship for eye-to-hand configuration and afterwards a rectification to improve the accuracy of general calibration.

Design/methodology/approach

The hand-eye calibration of eye-to-hand configuration is summarized as a equation AX = XB which is the same as in eye-in-hand calibration. A closed-form solution is derived. To abate the impact of noise, a rectification is conducted after the general calibration.

Findings

Simulation and actual experiments confirm that the accuracy of calibration is obviously improved.

Originality/value

Only a calibration plane is required for the hand-eye calibration. Taking the impact of noise into account, a rectification is carried out after the general calibration and, as a result, that the accuracy is obviously improved. The method can be applied in many actual applications.

Keywords

Acknowledgements

This work was partly supported by the National Natural Science Foundation of China (No.60875072, 61273350) and Beijing Natural Science Foundation (No.4112035).

Citation

Pan, H., Wang, N.L. and Qin, Y.S. (2014), "A closed-form solution to eye-to-hand calibration towards visual grasping", Industrial Robot, Vol. 41 No. 6, pp. 567-574. https://doi.org/10.1108/IR-07-2014-0365

Publisher

:

Emerald Group Publishing Limited

Copyright © 2014, Emerald Group Publishing Limited

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