Skip to main content
U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

Using Locally Adjustable Hand-Eye Calibrations to Reduce Robot Localization Error

Published

Author(s)

Marek Franaszek, Geraldine Cheok

Abstract

Accurate pose of robot end effector is required in many applications. Typically, this is achieved by robot calibration and then, registration of the robot frame to the world frame. In this paper, the registration of a poorly calibrated robot to a world frame was performed using many, local hand-eye registrations and using one, global registration. Both approaches were evaluated using a set of target poses. The use of the properly chosen local transformation applied to each target led to a tenfold reduction in the orientation and position error in comparison with a use of one, global transformation. The median orientation error was reduced to 0.029° and the median position error was reduced to 0.221 mm which is approximately four times larger than robot specified position repeatability.
Citation
SN Applied Sciences
Volume
2

Keywords

robot localization error, forward kinematic, hand-eye calibration, error compensation, accuracy, repeatability

Citation

Franaszek, M. and Cheok, G. (2020), Using Locally Adjustable Hand-Eye Calibrations to Reduce Robot Localization Error, SN Applied Sciences, [online], https://doi.org/10.1007/s42452-020-2626-2, https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=928169 (Accessed April 19, 2024)
Created April 7, 2020, Updated February 23, 2022