The Calibration for Dual-Robot System Based on the Three-Point Method

摘要

According to the calibration problem of the dual-robot system, a simple and quick calibration method is proposed in this paper. A new frame is established by the three non-collinear points which the robots handshake at. Then the transformation matrix between the first robot base frame and the new frame and the transformation matrix between the second robot base frame and the new frame will be known. After that, the transformation matrix between the two robots’ base frames will be calculated by the relationship between them. Then we simulate this algorithm in MATLAB to verify this method. After the simulation, we can find the validity of this calibration method.