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Erschienen in:
Utilization of Robot Systems in Disaster Sites of the Great Eastern Japan Earthquake Kapitel lesen Erstes Kapitel lesen

2014 | OriginalPaper | Buchkapitel

Automated and Frequent Calibration of a Robot Manipulator-mounted IR Range Camera for Steel Bridge Maintenance

verfasst von : Andrew Wing Keung To, Gavin Paul, David Rushton-Smith, Dikai Liu, Gamini Dissanayake

Erschienen in: Field and Service Robotics

Verlag: Springer Berlin Heidelberg

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Abstract

This paper presents an approach to perform frequent hand-eye calibration of an Infrared (IR) range camera mounted to the end-effector of a robot manipulator in a field environment. A set of three reflector discs arranged in a structured pattern is attached to the robot platform to provide high contrast image features with corresponding range readings for accurate calculation of the camera-to-robot base transform. Using this approach the hand-eye transform between the IR range camera and robot end-effector can be determined by considering the robot manipulator model. Experimental results show that a structured lighting-based IR range camera can be reliably hand-eye calibrated to a six DOF robot manipulator using the presented automated approach. Once calibrated, the IR range camera can be positioned with the manipulator so as to generate a high resolution geometric map of the surrounding environment suitable for performing the grit-blasting task.

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Metadaten
Titel
Automated and Frequent Calibration of a Robot Manipulator-mounted IR Range Camera for Steel Bridge Maintenance
verfasst von
Andrew Wing Keung To
Gavin Paul
David Rushton-Smith
Dikai Liu
Gamini Dissanayake
Copyright-Jahr
2014
Verlag
Springer Berlin Heidelberg
Buch
Field and Service Robotics

Print ISBN: 978-3-642-40685-0

Electronic ISBN: 978-3-642-40686-7

Copyright-Jahr: 2014

DOI
https://doi.org/10.1007/978-3-642-40686-7_14

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