To provide a method and device for calibrating between a camera and a robot, capable of accomplishing a decrease in the man-hours.
The calibration method applies to a robot whereto a visual device having a three-dimensional camera is fixed, and its procedures comprise six steps, i.e. a step to rotate the robot about two coordinate axes of an orthogonal coordinates system as the coordinates system of the robot and determine two simultaneous transform matrices corresponding to the rotations, a step to compute the unit vector of each equivalent rotational axis and the rotating angle about the equivalent rotational axis from the two simultaneous transform matrices, a step to compute from the two simultaneous transform matrices, two visual-device movement vectors defined by tying together by a straight line the starting and ending points of the visual device owing to respective rotations, a step to compute the position of each equivalent rotational axis from the rotating angle, the visual-device movement vectors, and the unit vector, a step to compute the coordinate axes of the robot coordinates system by transforming the coordinate systems of two equivalent rotational axes so as to allow them to be used commonly, and a step to compute the point of origin of the robot coordinates system as the intersection of the two equivalent rotational axes transformed.
SEKINADA KENJI
| JPH1063317A | 1998-03-06 | |||
| JPH08132373A | 1996-05-28 | |||
| JP2005186193A | 2005-07-14 | |||
| JP2002127055A | 2002-05-08 | |||
| JPH0885083A | 1996-04-02 |
Yasuo Nara
Katsuyuki Utani
Ken Fujita
Masanori
Toshihiro Hasegawa
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