Kinematic parameter identification of a binocular head using stereo measurements of single calibration point
Resource
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Journal
1995 IEEE International Conference on Robotics and Automation
Pages
-
Date Issued
1995-05
Date
1995-05
Author(s)
DOI
N/A
Abstract
This paper proposes a new closed-form solution for identifying the kinematic parameters of an active binocular head by using a single calibration point. This method is based on the complete and parametrically continuous (CPC) kinematic model, and can be applied to any kind of kinematic parameter identification problems with or without multiple end-effectors, providing that the links are rigid, the joints are either revolute or prismatic and no closed-loop kinematic chain is included. As a practical example, this paper focuses on the calibration of a binocular head having four revolute joints and two prismatic joints. Simulation and real experiments have shown that the proposed method of using point measurements can achieve much higher accuracy than that of using pose measurements.
Type
journal article
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