Autonomous robot calibration for hand-eye coordination

David J. Bennett, Davi Geiger, John M. Hollerbach

Research output: Contribution to journalArticle

Abstract

Autonomous robot calibration is defined as the process of determining a robot's model by using only its internal sensors. It is shown that autonomous calibration of a manipulator and stereo camera system is possible. The proposed autonomous calibration algorithm may obtain the manipulator kinematic parameters, external kinematic camera parameters, and internal camera parameters. To do this, only joint angle readings and camera image plane data are used. A condition for the identifiability of the manipulator/camera parameters is derived. The method is a generalization of a recently developed scheme for self-calibrating a manipulator by forming it into a mobile closed-loop kinematic chain.

Original languageEnglish (US)
Pages (from-to)550-559
Number of pages10
JournalInternational Journal of Robotics Research
Volume10
Issue number5
Publication statusPublished - Oct 1991

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ASJC Scopus subject areas

  • Control and Systems Engineering

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