Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 46, Issue 11, Pages 2634-2642Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2015.2483740
Keywords
Blade; hand-eye calibration; laser scanning; visually-guided robot grinding
Categories
Funding
- National Basic Research Program of China [2015CB057304]
- National Natural Science Foundation of China [51475187, 51421062]
- Fundamental Research Funds for the Central Universities [HUST 2015TS063]
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Visually-guided robot grinding is a novel and promising automation technique for blade manufacturing. One common problem encountered in robot grinding is hand-eye calibration, which establishes the pose relationship between the end effector (hand) and the scanning sensor (eye). This paper proposes a new calibration approach for robot belt grinding. The main contribution of this paper is its consideration of both joint parameter errors and pose parameter errors in a hand-eye calibration equation. The objective function of the hand-eye calibration is built and solved, from which 30 compensated values (corresponding to 24 joint parameters and six pose parameters) are easily calculated in a closed solution. The proposed approach is economic and simple because only a criterion sphere is used to calculate the calibration parameters, avoiding the need for an expensive and complicated tracking process using a laser tracker. The effectiveness of this method is verified using a calibration experiment and a blade grinding experiment. The code used in this approach is attached in the Appendix.
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