Singularity Analysis and Avoidance of Hand-Eye Calibration Method Between Robot and Line Laser Sensor

Juan Hao; Tongtai Cao; Zhen Liu; Haoxiang He; Zhaodong Guo; Heng Zhao; Jinhu Chen

doi:10.1007/978-981-19-1309-9_188

Singularity Analysis and Avoidance of Hand-Eye Calibration Method Between Robot and Line Laser Sensor

Juan Hao^*, Tongtai Cao, Zhen Liu, Haoxiang He, Zhaodong Guo, Heng Zhao, Jinhu Chen

^*Corresponding author for this work

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Before the industrial robot clamps the line laser sensor for scanning, it is necessary to calibrate the position vector and pose matrix between the industrial robot and the line laser sensor, that is, Hand-Eye Calibration Matrix (HECM). This paper analyzes the singularities in calculating HECM and proposes methods to avoid them. First of all, this paper demonstrates why the singularity may exists when calculating the rotation matrix, and how to avoid it. Because any rotation matrix is always standard and orthogonal, the matrix obtained by one rotation matrix subtracting another is always singular. Thus, this paper proposes the Least Squares Methhod (LSM) to calculate the position vector. Finally, the paper verifies that the above methods can avoid the matrix singularity problem and can effectively calculate the HECM based on experiments.

Original language	English
Title of host publication	Proceedings of the 8th Asia International Symposium on Mechatronics, AISM 2021
Editors	Baoyan Duan, Kazunori Umeda, Chang-wan Kim
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	1989-1998
Number of pages	10
ISBN (Print)	9789811913082
DOIs	https://doi.org/10.1007/978-981-19-1309-9_188
Publication status	Published - 2022
Event	8th Asia International Symposium on Mechatronics, AISM 2021 - Liuzhou, China Duration: 16 Dec 2021 → 19 Dec 2021

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	885 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	8th Asia International Symposium on Mechatronics, AISM 2021
Country/Territory	China
City	Liuzhou
Period	16/12/21 → 19/12/21

Keywords

Singularity analysis
The hand-eye calibration
The industry robot
The line laser sensor

Access to Document

10.1007/978-981-19-1309-9_188

Cite this

Hao, J., Cao, T., Liu, Z., He, H., Guo, Z., Zhao, H., & Chen, J. (2022). Singularity Analysis and Avoidance of Hand-Eye Calibration Method Between Robot and Line Laser Sensor. In B. Duan, K. Umeda, & C. Kim (Eds.), Proceedings of the 8th Asia International Symposium on Mechatronics, AISM 2021 (pp. 1989-1998). (Lecture Notes in Electrical Engineering; Vol. 885 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-1309-9_188

Hao, Juan ; Cao, Tongtai ; Liu, Zhen et al. / Singularity Analysis and Avoidance of Hand-Eye Calibration Method Between Robot and Line Laser Sensor. Proceedings of the 8th Asia International Symposium on Mechatronics, AISM 2021. editor / Baoyan Duan ; Kazunori Umeda ; Chang-wan Kim. Springer Science and Business Media Deutschland GmbH, 2022. pp. 1989-1998 (Lecture Notes in Electrical Engineering).

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title = "Singularity Analysis and Avoidance of Hand-Eye Calibration Method Between Robot and Line Laser Sensor",

abstract = "Before the industrial robot clamps the line laser sensor for scanning, it is necessary to calibrate the position vector and pose matrix between the industrial robot and the line laser sensor, that is, Hand-Eye Calibration Matrix (HECM). This paper analyzes the singularities in calculating HECM and proposes methods to avoid them. First of all, this paper demonstrates why the singularity may exists when calculating the rotation matrix, and how to avoid it. Because any rotation matrix is always standard and orthogonal, the matrix obtained by one rotation matrix subtracting another is always singular. Thus, this paper proposes the Least Squares Methhod (LSM) to calculate the position vector. Finally, the paper verifies that the above methods can avoid the matrix singularity problem and can effectively calculate the HECM based on experiments.",

keywords = "Singularity analysis, The hand-eye calibration, The industry robot, The line laser sensor",

author = "Juan Hao and Tongtai Cao and Zhen Liu and Haoxiang He and Zhaodong Guo and Heng Zhao and Jinhu Chen",

note = "Publisher Copyright: {\textcopyright} 2022, Science Press.; 8th Asia International Symposium on Mechatronics, AISM 2021 ; Conference date: 16-12-2021 Through 19-12-2021",

year = "2022",

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series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

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Hao, J, Cao, T, Liu, Z, He, H, Guo, Z, Zhao, H & Chen, J 2022, Singularity Analysis and Avoidance of Hand-Eye Calibration Method Between Robot and Line Laser Sensor. in B Duan, K Umeda & C Kim (eds), Proceedings of the 8th Asia International Symposium on Mechatronics, AISM 2021. Lecture Notes in Electrical Engineering, vol. 885 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 1989-1998, 8th Asia International Symposium on Mechatronics, AISM 2021, Liuzhou, China, 16/12/21. https://doi.org/10.1007/978-981-19-1309-9_188

Singularity Analysis and Avoidance of Hand-Eye Calibration Method Between Robot and Line Laser Sensor. / Hao, Juan; Cao, Tongtai; Liu, Zhen et al.
Proceedings of the 8th Asia International Symposium on Mechatronics, AISM 2021. ed. / Baoyan Duan; Kazunori Umeda; Chang-wan Kim. Springer Science and Business Media Deutschland GmbH, 2022. p. 1989-1998 (Lecture Notes in Electrical Engineering; Vol. 885 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Singularity Analysis and Avoidance of Hand-Eye Calibration Method Between Robot and Line Laser Sensor

AU - Hao, Juan

AU - Cao, Tongtai

AU - Liu, Zhen

AU - He, Haoxiang

AU - Guo, Zhaodong

AU - Zhao, Heng

AU - Chen, Jinhu

PY - 2022

Y1 - 2022

N2 - Before the industrial robot clamps the line laser sensor for scanning, it is necessary to calibrate the position vector and pose matrix between the industrial robot and the line laser sensor, that is, Hand-Eye Calibration Matrix (HECM). This paper analyzes the singularities in calculating HECM and proposes methods to avoid them. First of all, this paper demonstrates why the singularity may exists when calculating the rotation matrix, and how to avoid it. Because any rotation matrix is always standard and orthogonal, the matrix obtained by one rotation matrix subtracting another is always singular. Thus, this paper proposes the Least Squares Methhod (LSM) to calculate the position vector. Finally, the paper verifies that the above methods can avoid the matrix singularity problem and can effectively calculate the HECM based on experiments.

AB - Before the industrial robot clamps the line laser sensor for scanning, it is necessary to calibrate the position vector and pose matrix between the industrial robot and the line laser sensor, that is, Hand-Eye Calibration Matrix (HECM). This paper analyzes the singularities in calculating HECM and proposes methods to avoid them. First of all, this paper demonstrates why the singularity may exists when calculating the rotation matrix, and how to avoid it. Because any rotation matrix is always standard and orthogonal, the matrix obtained by one rotation matrix subtracting another is always singular. Thus, this paper proposes the Least Squares Methhod (LSM) to calculate the position vector. Finally, the paper verifies that the above methods can avoid the matrix singularity problem and can effectively calculate the HECM based on experiments.

KW - Singularity analysis

KW - The hand-eye calibration

KW - The industry robot

KW - The line laser sensor

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U2 - 10.1007/978-981-19-1309-9_188

DO - 10.1007/978-981-19-1309-9_188

M3 - Conference contribution

AN - SCOPUS:85135195974

SN - 9789811913082

T3 - Lecture Notes in Electrical Engineering

SP - 1989

EP - 1998

BT - Proceedings of the 8th Asia International Symposium on Mechatronics, AISM 2021

A2 - Duan, Baoyan

A2 - Umeda, Kazunori

A2 - Kim, Chang-wan

PB - Springer Science and Business Media Deutschland GmbH

T2 - 8th Asia International Symposium on Mechatronics, AISM 2021

Y2 - 16 December 2021 through 19 December 2021

ER -

Hao J, Cao T, Liu Z, He H, Guo Z, Zhao H et al. Singularity Analysis and Avoidance of Hand-Eye Calibration Method Between Robot and Line Laser Sensor. In Duan B, Umeda K, Kim C, editors, Proceedings of the 8th Asia International Symposium on Mechatronics, AISM 2021. Springer Science and Business Media Deutschland GmbH. 2022. p. 1989-1998. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-19-1309-9_188

Singularity Analysis and Avoidance of Hand-Eye Calibration Method Between Robot and Line Laser Sensor

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