title: Hand-Eye Calibration in Visually-Guided Robot Grinding.
abstract: Visually-guided robot grinding is a novel and promising automation technique for blade manufacturing. One common problem encountered in robot grinding is hand-eye calibration, which establishes the pose relationship between the end effector (hand) and the scanning sensor (eye). This paper proposes a new calibration approach for robot belt grinding. The main contribution of this paper is its consideration of both joint parameter errors and pose parameter errors in a hand-eye calibration equation. The objective function of the hand-eye calibration is built and solved, from which 30 compensated values (corresponding to 24 joint parameters and six pose parameters) are easily calculated in a closed solution. The proposed approach is economic and simple because only a criterion sphere is used to calculate the calibration parameters, avoiding the need for an expensive and complicated tracking process using a laser tracker. The effectiveness of this method is verified using a calibration experiment and a blade grinding experiment. The code used in this approach is attached in the Appendix.
authors.forename: Wen-Long
authors.initials: WL
authors.lastname: Li
authors.forename: He
authors.initials: H
authors.lastname: Xie
authors.forename: Gang
authors.initials: G
authors.lastname: Zhang
authors.forename: Si-Jie
authors.initials: SJ
authors.lastname: Yan
authors.forename: Zhou-Ping
authors.initials: ZP
authors.lastname: Yin
mesh_terms: D001696:Biomechanical Phenomena; D002138:Calibration; D006801:Humans; D066192:Manufacturing Industry / Q000379:methods / Q000592:standards; D008954:Models, Biological; D012371:Robotics / Q000295:instrumentation / Q000379:methods / Q000592:standards