A low cost hand-eye calibration method for arc welding robots

Mitchell Dinham; Gu Fang

doi:10.1109/ROBIO.2009.5420552

A low cost hand-eye calibration method for arc welding robots

Mitchell Dinham
, Gu Fang

School of Engineering, Design & Built Environment

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

29 Citations (Scopus)

Abstract

Hand-eye calibration is one of the most important and fundamental tasks in performing visual guided robot control tasks. Many techniques have been proposed that use various expensive equipment ranging from a three dimensional positioning device to a laser measurement device. The work presented in this paper aims at developing a low cost robot hand/eye calibration method that is accurate and robust enough to be used in a robotic arc welding system. The proposed calibration method allows the camera and object frames to be referenced directly to the robots base co-ordinate frame. Experimental results show that the developed method can be used to achieve a calibration accuracy of 1 mm (in the directions of interest, X and Y axes) that is acceptable for robotic welding applications.

Original language	English
Title of host publication	Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO 2009): Guilin, China, 19-23 December 2009
Publisher	IEEE
Pages	1889-1893
Number of pages	5
ISBN (Print)	9781424447756
DOIs	https://doi.org/10.1109/ROBIO.2009.5420552
Publication status	Published - 2009
Event	IEEE International Conference on Robotics and Biomimetics - Duration: 7 Dec 2011 → …

Conference

Conference	IEEE International Conference on Robotics and Biomimetics
Period	7/12/11 → …

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10.1109/ROBIO.2009.5420552

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title = "A low cost hand-eye calibration method for arc welding robots",

abstract = "Hand-eye calibration is one of the most important and fundamental tasks in performing visual guided robot control tasks. Many techniques have been proposed that use various expensive equipment ranging from a three dimensional positioning device to a laser measurement device. The work presented in this paper aims at developing a low cost robot hand/eye calibration method that is accurate and robust enough to be used in a robotic arc welding system. The proposed calibration method allows the camera and object frames to be referenced directly to the robots base co-ordinate frame. Experimental results show that the developed method can be used to achieve a calibration accuracy of 1 mm (in the directions of interest, X and Y axes) that is acceptable for robotic welding applications.",

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AB - Hand-eye calibration is one of the most important and fundamental tasks in performing visual guided robot control tasks. Many techniques have been proposed that use various expensive equipment ranging from a three dimensional positioning device to a laser measurement device. The work presented in this paper aims at developing a low cost robot hand/eye calibration method that is accurate and robust enough to be used in a robotic arc welding system. The proposed calibration method allows the camera and object frames to be referenced directly to the robots base co-ordinate frame. Experimental results show that the developed method can be used to achieve a calibration accuracy of 1 mm (in the directions of interest, X and Y axes) that is acceptable for robotic welding applications.

UR - http://handle.uws.edu.au:8081/1959.7/562596

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ER -

A low cost hand-eye calibration method for arc welding robots

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