{"title":"机器人手眼标定的初步估计","authors":"Hong-Jian Liu, Fanhuai Shi, Yun-cai Liu, Yi Luo","doi":"10.1109/ROSE.2004.1317608","DOIUrl":null,"url":null,"abstract":"An initial estimates method for calibration of a robotic hand-eye relationship is presented in the paper. Classical methods mainly concentrate on solving the basic equation AX=XB, where X is the unknown sensor position relative to the robot hand, A is the robot motion, B is the camera motion. In optimizing process of solving the equation, initial values are needed. Unsuitable initial values often lead to a big error. The proposed method has a large advantage on getting a fine initial value, which can avoid errors introduced by experience effective. Real experiments have been used to test the proposed method and good results have been obtained.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"124 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Initial estimates for robotic hand-eye calibration\",\"authors\":\"Hong-Jian Liu, Fanhuai Shi, Yun-cai Liu, Yi Luo\",\"doi\":\"10.1109/ROSE.2004.1317608\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An initial estimates method for calibration of a robotic hand-eye relationship is presented in the paper. Classical methods mainly concentrate on solving the basic equation AX=XB, where X is the unknown sensor position relative to the robot hand, A is the robot motion, B is the camera motion. In optimizing process of solving the equation, initial values are needed. Unsuitable initial values often lead to a big error. The proposed method has a large advantage on getting a fine initial value, which can avoid errors introduced by experience effective. Real experiments have been used to test the proposed method and good results have been obtained.\",\"PeriodicalId\":142501,\"journal\":{\"name\":\"International Workshop on Robot Sensing, 2004. ROSE 2004.\",\"volume\":\"124 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2004-05-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Workshop on Robot Sensing, 2004. ROSE 2004.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROSE.2004.1317608\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Workshop on Robot Sensing, 2004. ROSE 2004.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROSE.2004.1317608","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Initial estimates for robotic hand-eye calibration
An initial estimates method for calibration of a robotic hand-eye relationship is presented in the paper. Classical methods mainly concentrate on solving the basic equation AX=XB, where X is the unknown sensor position relative to the robot hand, A is the robot motion, B is the camera motion. In optimizing process of solving the equation, initial values are needed. Unsuitable initial values often lead to a big error. The proposed method has a large advantage on getting a fine initial value, which can avoid errors introduced by experience effective. Real experiments have been used to test the proposed method and good results have been obtained.