Iterative Refinement of Hand-Eye Calibration

摘要

This article describes a new proposed algorithm for an iterative refinement of a hand-eye calibration. The main purpose of this type of calibration is to find the relative position of a flange of a robot and a mounted optical sensor, which is an important task for robotic seam tracking systems. The principle of the hand-eye calibration and chosen algorithms are briefly introduced in the beginning. Afterwards, the calibration procedure with the chosen calibration object and its issues are described. Then the algorithm for calibration improvement is presented, which is based on the iterative elimination of the calibration positions according to the proposed criterion. Finally, the proposed algorithm is tested in simulations and also in a real system.