Base Calibration for Dual Robot System

摘要

Calibration of the base coordinate systems of the two robot manipulators in a dual robot system has not received enough attentions,though its importance is obvious. This paper describes a base calibration method by taking advantage of a visual sensor held by one of the manipulators. This method is based on,but separated from the calibrations of the robot manipulators and the visual sensor themselves. Moreover,the algorithm proposed estimates the rotational and translational parameters with the help of the same set of instrumental variables,thus no errors propagate between them. Simulations are provided to show the properties of the mehod.