Hand-to-eye calibration for 3D surface digitalisation system
by Aiguo Li, Zi Ma, Defeng Wu
International Journal of Modelling, Identification and Control (IJMIC), Vol. 6, No. 3, 2009

Abstract: Main contributions of this paper include: 1 a platform composed of a laser-stripe vision sensor and an industrial robot is established for 3D surface digitalisation; 2 a mathematic model for measuring system is constructed by using homogenous coordinate transform principle and Denavit-Hartenberg notation; 3 the hand-to-sensor parameters are estimated by means of measuring a reference plane with unknown orientation and position information. Test results of both simulation and real experiments on a Yaskawa robot are reported and analysed.

Online publication date: Sun, 05-Apr-2009

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