General Approach To Calibration Of Robotic Sensor Systems

Christopher P. Cullen

doi:10.1117/12.942734

19 February 1988 General Approach To Calibration Of Robotic Sensor Systems

Christopher P. Cullen

Proceedings Volume 0848, Intelligent Robots and Computer Vision VI; (1988) https://doi.org/10.1117/12.942734
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

A general approach to the calibration of sensor systems is presented. Calibration is defined as establishing a transformation from a set of sensor data in sensor coordinates, to task data in a different coordinate system; this task data may be used to specify or correct robot motion, or measure part features. A sensor system is defined as any collection of individual sensing elements. Typical elements include machine vision cameras, touch sensors, and proximity sensors. It is shown that a collection of many sensors into one system can increase sensing capability and accuracy. Calibration of such a system is generally more complex than that of a single sensing element. A graphical language, using dataflow diagrams, is used to define the calibration process. Using this language, a calibration diagram is constructed. This diagram identifies individual elements, clearly shows the data flow, and can be used to analyze the statistical properties of the calibration. Diagrams of standard constituent elements are presented, including camera and robot arm. This calibration methodology is derived from the experience of hundreds of working factory installations. Several examples of actual applications are presented. Different calibration methods for each are presented and compared. Examples are given to represent robot guidance using fixed cameras, and part location using proximity sensors.

Citation Download Citation

Christopher P. Cullen "General Approach To Calibration Of Robotic Sensor Systems", Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); https://doi.org/10.1117/12.942734

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available