Zhang Y, Qiu Z, Zhang X. Calibration method for hand-eye system with rotation and translation couplings.
APPLIED OPTICS 2019;
58:5375-5387. [PMID:
31504005 DOI:
10.1364/ao.58.005375]
[Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/28/2019] [Accepted: 06/11/2019] [Indexed: 06/10/2023]
Abstract
This paper develops a novel hand-eye calibration method for hand-eye systems with rotation and translation coupling terms. First, a nonlinear camera model with distortion terms and a model of a hand-eye system with rotation and translation coupling terms are established. Based on a non-linear optimization method and a reverse projection method, a decoupling calibration method for a lower-degree-of-freedom hand-eye system is proposed. Then the path planning for the calibration process is carried out. Based on the analysis of coupling constraints and hand-eye system motion constraints, three types of hand-eye calibration paths with high efficiency and easy operation are developed. In addition, the influence of key parameters on hand-eye calibration accuracy is analyzed. Finally, calibration experiments and parametric influence experiments are carried out. The results demonstrate that the proposed method is effective and practical for calibrating the hand-eye system.
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