科研之友
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摘要
While a robot moves, online hand-eye calibration to determine the relative pose between the robot gripper/endeffector and the sensors mounted on it is very important in a vision-guided robot system. During online hand-eye calibration, it is impossible to perform motion planning to avoid degenerate motions and small rotations, which may lead to unreliable calibration results. This paper proposes an adaptive motion selection algorithm for online hand-eye calibration, featured by dynamic threshold determination for motion selection and getting reliable hand-eye calibration results. Simulation and real experiments demonstrate the effectiveness of our method.
- 出版日期2007-10
- 单位上海交通大学
