Hand/eye calibration for electronic assembly robots

摘要

Robotic hand/eye calibration is the process of identifying the fixed, yet unknown, position and orientation of a sensor mounted on the robot end-effector with respect to the robot hand coordinate frame. It is proven in this paper that in the case of camera-equipped electronic assembly robots, up to five parameters (three rotation and two position parameters) in the hand/eye matrix can be determined. However, it is shown that in order to measure relative poses of the hand-mounted sensor, one needs only to know these five parameters. Linear and iterative methods are proposed to estimate the five relevant parameters. Simulation and experimental studies confirm the effectiveness of the methods.