Computer vision based calibration of the purely translational Orthopod manipulator

Yunjiang Lou; Tieniu Chen; Yuanqing Wu; Guanfeng Liu

doi:10.1109/ICINFA.2009.5205136

Computer vision based calibration of the purely translational Orthopod manipulator

Yunjiang Lou^*
, Tieniu Chen
, Yuanqing Wu
, Guanfeng Liu

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is verified using a simple yet practical experiment. Then we perform manipulator calibration using its inverse kinematics model. To evaluate the visionbased kinematic calibration method, we let the endeffector undergo a uniaxial translation and observe its leg parallelism [1]. Experiment data verifies the effectiveness and flexibility of the proposed calibration method.

Original language	English
Title of host publication	2009 IEEE International Conference on Information and Automation, ICIA 2009
Pages	1404-1409
Number of pages	6
DOIs	https://doi.org/10.1109/ICINFA.2009.5205136
State	Published - 2009
Externally published	Yes
Event	2009 IEEE International Conference on Information and Automation, ICIA 2009 - Zhuhai, Macau, China Duration: 22 Jun 2009 → 25 Jun 2009

Publication series

Name	2009 IEEE International Conference on Information and Automation, ICIA 2009

Conference

Conference	2009 IEEE International Conference on Information and Automation, ICIA 2009
Country/Territory	China
City	Zhuhai, Macau
Period	22/06/09 → 25/06/09

Keywords

Computer vision
Kinematic calibration
Parallel manipulators

Access to Document

10.1109/ICINFA.2009.5205136

Cite this

@inproceedings{36cf8f77afb44deda76fbbd4ae660dbd,

title = "Computer vision based calibration of the purely translational Orthopod manipulator",

abstract = "In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is verified using a simple yet practical experiment. Then we perform manipulator calibration using its inverse kinematics model. To evaluate the visionbased kinematic calibration method, we let the endeffector undergo a uniaxial translation and observe its leg parallelism [1]. Experiment data verifies the effectiveness and flexibility of the proposed calibration method.",

keywords = "Computer vision, Kinematic calibration, Parallel manipulators",

author = "Yunjiang Lou and Tieniu Chen and Yuanqing Wu and Guanfeng Liu",

year = "2009",

doi = "10.1109/ICINFA.2009.5205136",

language = "英语",

isbn = "9781424436088",

series = "2009 IEEE International Conference on Information and Automation, ICIA 2009",

pages = "1404--1409",

booktitle = "2009 IEEE International Conference on Information and Automation, ICIA 2009",

note = "2009 IEEE International Conference on Information and Automation, ICIA 2009 ; Conference date: 22-06-2009 Through 25-06-2009",

}

Lou, Y, Chen, T, Wu, Y & Liu, G 2009, Computer vision based calibration of the purely translational Orthopod manipulator. in 2009 IEEE International Conference on Information and Automation, ICIA 2009., 5205136, 2009 IEEE International Conference on Information and Automation, ICIA 2009, pp. 1404-1409, 2009 IEEE International Conference on Information and Automation, ICIA 2009, Zhuhai, Macau, China, 22/06/09. https://doi.org/10.1109/ICINFA.2009.5205136

Computer vision based calibration of the purely translational Orthopod manipulator. / Lou, Yunjiang; Chen, Tieniu; Wu, Yuanqing et al.
2009 IEEE International Conference on Information and Automation, ICIA 2009. 2009. p. 1404-1409 5205136 (2009 IEEE International Conference on Information and Automation, ICIA 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Computer vision based calibration of the purely translational Orthopod manipulator

AU - Lou, Yunjiang

AU - Chen, Tieniu

AU - Wu, Yuanqing

AU - Liu, Guanfeng

PY - 2009

Y1 - 2009

N2 - In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is verified using a simple yet practical experiment. Then we perform manipulator calibration using its inverse kinematics model. To evaluate the visionbased kinematic calibration method, we let the endeffector undergo a uniaxial translation and observe its leg parallelism [1]. Experiment data verifies the effectiveness and flexibility of the proposed calibration method.

AB - In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is verified using a simple yet practical experiment. Then we perform manipulator calibration using its inverse kinematics model. To evaluate the visionbased kinematic calibration method, we let the endeffector undergo a uniaxial translation and observe its leg parallelism [1]. Experiment data verifies the effectiveness and flexibility of the proposed calibration method.

KW - Computer vision

KW - Kinematic calibration

KW - Parallel manipulators

UR - https://www.scopus.com/pages/publications/70449643292

U2 - 10.1109/ICINFA.2009.5205136

DO - 10.1109/ICINFA.2009.5205136

M3 - 会议稿件

AN - SCOPUS:70449643292

SN - 9781424436088

T3 - 2009 IEEE International Conference on Information and Automation, ICIA 2009

SP - 1404

EP - 1409

BT - 2009 IEEE International Conference on Information and Automation, ICIA 2009

T2 - 2009 IEEE International Conference on Information and Automation, ICIA 2009

Y2 - 22 June 2009 through 25 June 2009

ER -

Computer vision based calibration of the purely translational Orthopod manipulator

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this