Abstract
For the hand-eye calibration, the checkerboard is used for calibration, the realization process is complicated, and the calibration time is long. Through the transformation relationship of the coordinate system, a mathematical model with eye-to-hand is established. A hand-eye system based on the INNFOS robotic arm and the intel D455 camera is built. Based on the ROS platform, the generation of the Moveit function package and the camera calibration are completed. In the calibration program, the logic design of the motion planning module, the calibration board pose estimation module and the hand-eye matrix calculation module is completed. The calibration experiment of the hand-eye system is carried out. The experimental results show that, compared with the traditional checkerboard calibration, the automatic calibration procedure is convenient, efficient, and accurate.
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Acknowledgment
This work is supported by Fujian Provincial Natural Science Foundation (Grant No.:2021J1851),by Fujian Provincial Department of Science and Technology Industry-University-Research Project (Grant No.:2020H6016) and by Quanzhou Industry-University-Research Technology Project (Grant No.: 2019C103).
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Wu, K., Gong, Q., Zhu, S., Chen, N. (2023). Construction of Automatic Hand-Eye Calibration System Based on ROS Platform. In: Wang, Y., Yu, T., Wang, K. (eds) Advanced Manufacturing and Automation XII. IWAMA 2022. Lecture Notes in Electrical Engineering, vol 994. Springer, Singapore. https://doi.org/10.1007/978-981-19-9338-1_7
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DOI: https://doi.org/10.1007/978-981-19-9338-1_7
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