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Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate
2020
Frontiers in Robotics and AI
Point cloud data provides three-dimensional (3D) measurement of the geometric details in the physical world, which relies heavily on the quality of the machine vision system. In this paper, we explore the potentials of a 3D scanner of high quality (15 million points per second), accuracy (up to 0.150 mm), and frame rate (up to 20 FPS) during static and dynamic measurements of the robot flange for direct hand-eye calibration and trajectory error tracking. With the availability of high-quality
doi:10.3389/frobt.2020.00065
pmid:33501233
pmcid:PMC7805951
fatcat:rkzbmcxkmfbjhh365bj3it25bu