Camera to Robotic Arm Calibration
Camera-to-Arm-Calibration
The method operates by finding the parameters that minimize the difference in the position of the checkerboard given by the camera and arm when it is projected into the cameras coordinate system. For more details on how the calibration operates see http://www.zjtaylor.com/welcome/download_pdf?pdf=Arm+Calibration.pdf
Calibration guide
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1) Download the code
2) Obtain a checkerboard
3) Rigidly mount the checkerboard to the robots end effector
4) Move the robotic arm into a new pose where the entire checkerboard can be seen from the camera
5) Capture the camera image and record the arm base to end effector transformation.
6) Repeat steps 4-5 at least 10 times (20+ times is recommended)
7) Run the calibration code using CalCamArm.m
8) The Calibration should be complete. For more details and optional inputs / outputs run "help CalCamArm"
Any issues / comments / ideas / etc give me an email at z.taylor@acfr.usyd.edu.au
Citation pour cette source
Zachary Taylor (2024). Camera to Robotic Arm Calibration (https://github.com/ZacharyTaylor/Camera-to-Arm-Calibration), GitHub. Récupéré le .
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- Image Processing and Computer Vision > Computer Vision Toolbox > Camera Calibration >
- Test and Measurement > Image Acquisition Toolbox > Image Acquisition Toolbox Supported Hardware > Kinect For Windows Sensor >
- Image Processing and Computer Vision > Image Acquisition Toolbox > Image Acquisition Toolbox Supported Hardware > Kinect For Windows Sensor >
- Test and Measurement > Image Acquisition Toolbox > Image Data Acquisition > Acquisition Using Kinect for Windows Hardware >
- Image Processing and Computer Vision > Image Acquisition Toolbox > Image Data Acquisition > Acquisition Using Kinect for Windows Hardware >
- Robotics and Autonomous Systems > ROS Toolbox >
- Engineering > Electrical and Computer Engineering > Robotics >
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Version | Publié le | Notes de version | |
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1.4.0.0 | Updated to include link to pdf |
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1.0.0.0 |
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