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 proceedingConference proceeding contribution

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 languageEnglish
Title of host publication2009 IEEE International Conference on Information and Automation, ICIA 2009
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1404-1409
Number of pages6
ISBN (Print)9781424436071
DOIs
Publication statusPublished - 2009
Externally publishedYes
EventIEEE International Conference on Information and Automation - Zhuhai, Macau
Duration: 22 Jun 200925 Jun 2009

Conference

ConferenceIEEE International Conference on Information and Automation
CityZhuhai, Macau
Period22/06/0925/06/09

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