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
N1 - Publisher Copyright:
© 2022, Science Press.
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
UR - http://www.scopus.com/inward/record.url?scp=85135195974&partnerID=8YFLogxK
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 -