Computer vision based calibration of the purely translational Orthopod manipulator

Y. Lou; T. Chen; Y. Wu; Guanfeng Liu

doi:10.1109/ICINFA.2009.5205136

Computer vision based calibration of the purely translational Orthopod manipulator

Y. Lou, T. Chen, Y. Wu, Guanfeng Liu

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

1 Citation (Scopus)

Abstract

In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is verified using a simple yet practical experiment. Then we perform manipulator calibration using its inverse kinematics model. To evaluate the visionbased kinematic calibration method, we let the endeffector undergo a uniaxial translation and observe its leg parallelism [1]. Experiment data verifies the effectiveness and flexibility of the proposed calibration method.

Original language	English
Title of host publication	2009 IEEE International Conference on Information and Automation, ICIA 2009
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	1404-1409
Number of pages	6
ISBN (Print)	9781424436071
DOIs	https://doi.org/10.1109/ICINFA.2009.5205136
Publication status	Published - 2009
Externally published	Yes
Event	IEEE International Conference on Information and Automation - Zhuhai, Macau Duration: 22 Jun 2009 → 25 Jun 2009

Conference

Conference	IEEE International Conference on Information and Automation
City	Zhuhai, Macau
Period	22/06/09 → 25/06/09

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10.1109/ICINFA.2009.5205136

Cite this

@inproceedings{392f162035db456ab6faa718edeb3a0b,

title = "Computer vision based calibration of the purely translational Orthopod manipulator",

abstract = "In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is verified using a simple yet practical experiment. Then we perform manipulator calibration using its inverse kinematics model. To evaluate the visionbased kinematic calibration method, we let the endeffector undergo a uniaxial translation and observe its leg parallelism [1]. Experiment data verifies the effectiveness and flexibility of the proposed calibration method.",

author = "Y. Lou and T. Chen and Y. Wu and Guanfeng Liu",

year = "2009",

doi = "10.1109/ICINFA.2009.5205136",

language = "English",

isbn = "9781424436071",

pages = "1404--1409",

booktitle = "2009 IEEE International Conference on Information and Automation, ICIA 2009",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "IEEE International Conference on Information and Automation ; Conference date: 22-06-2009 Through 25-06-2009",

}

Lou, Y, Chen, T, Wu, Y & Liu, G 2009, Computer vision based calibration of the purely translational Orthopod manipulator. in 2009 IEEE International Conference on Information and Automation, ICIA 2009. Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 1404-1409, IEEE International Conference on Information and Automation, Zhuhai, Macau, 22/06/09. https://doi.org/10.1109/ICINFA.2009.5205136

Computer vision based calibration of the purely translational Orthopod manipulator. / Lou, Y.; Chen, T.; Wu, Y. et al.
2009 IEEE International Conference on Information and Automation, ICIA 2009. Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2009. p. 1404-1409.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

TY - GEN

T1 - Computer vision based calibration of the purely translational Orthopod manipulator

AU - Lou, Y.

AU - Chen, T.

AU - Wu, Y.

AU - Liu, Guanfeng

PY - 2009

Y1 - 2009

N2 - In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is verified using a simple yet practical experiment. Then we perform manipulator calibration using its inverse kinematics model. To evaluate the visionbased kinematic calibration method, we let the endeffector undergo a uniaxial translation and observe its leg parallelism [1]. Experiment data verifies the effectiveness and flexibility of the proposed calibration method.

AB - In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is verified using a simple yet practical experiment. Then we perform manipulator calibration using its inverse kinematics model. To evaluate the visionbased kinematic calibration method, we let the endeffector undergo a uniaxial translation and observe its leg parallelism [1]. Experiment data verifies the effectiveness and flexibility of the proposed calibration method.

U2 - 10.1109/ICINFA.2009.5205136

DO - 10.1109/ICINFA.2009.5205136

M3 - Conference proceeding contribution

SN - 9781424436071

SP - 1404

EP - 1409

BT - 2009 IEEE International Conference on Information and Automation, ICIA 2009

PB - Institute of Electrical and Electronics Engineers (IEEE)

CY - Piscataway, NJ

T2 - IEEE International Conference on Information and Automation

Y2 - 22 June 2009 through 25 June 2009

ER -

Computer vision based calibration of the purely translational Orthopod manipulator

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