Computer Vision Based Calibration of the Purely Translational Orthopod Manipulator
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.
parallel manipulators computer vision kinematic calibration
Yunjiang Lou Tieniu Chen Yuanqing Wu Guanfeng Liu
Division of Control and Mechatronics Engineering,Shenzhen Graduate School,Harbin Institute of Technology,Shenzhen,China
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
1404-1409
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）