Abstract
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.
Original language | English |
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Title of host publication | Proceedings 2001 IEEE International Conference on Intelligent Engineering Systems |
Pages | 313-318 |
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
Conference | IEEE International Conference on Intelligent Engineering Systems, INES 2001 |
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Country/Territory | Finland |
City | Helsinki |
Period | 16/09/01 → 18/09/01 |