A webcam photogrammetric method for robot calibration

摘要: This paper describes a strategy for accurate robot calibration using close range photogrammetry. A 5-DoF has been designed placement of two web cameras relative to an object. To ensure correct camera positioning, the is calibrated following strategy. First, Denavit-Hartenberg method used generate general kinematic model. set reference frames are defined each joint and cameras, transformation matrices then produced represent change in position orientation between terms positions unknown parameters. The complete model extracted by multiplying these matrices. Second, photogrammetry estimate postures both cameras. images captured fixture from different poses. estimated bundle adjustment. Third, parameters weighted least squares. For pose equations iterative procedure. Finally values substituted back into original final tested forward kinematics comparing model’s predicted given obtained through Inverse performed squares particle swarm optimisation techniques contrasted. Results demonstrate that this approach produces reliable can be with control.