In this paper, we present a flexible hand-eye calibration method for a range sensor attched to the TCP point of the robot. We also illustrate the importance of the pose-dependent noise modelling by showing the behaviour of the uncertainty estimates in the case of general pose (position and orientation) noise model, general joint-based model and specific pose-dependent noise model including pose-dependent joint and sensor uncetainty values. The estimation is carried out using the Bayesian form estimation and uncertainties are analysed from the error covariance matrices of the estimated parameters.
|Title of host publication||Proceedings 2001 IEEE International Conference on Intelligent Engineering Systems|
|Publication status||Published - 2001|
|MoE publication type||B3 Non-refereed article in conference proceedings|
|Event||IEEE International Conference on Intelligent Engineering Systems, INES 2001 - Helsinki, Finland|
Duration: 16 Sep 2001 → 18 Sep 2001
|Conference||IEEE International Conference on Intelligent Engineering Systems, INES 2001|
|Period||16/09/01 → 18/09/01|