Fig 1.
Component frames for vision-guided robot.
(A) Frame relationships. (B) Hand-eye setup.
Fig 2.
(A) Camera-End-Effector setup. (B) Camera. (C) Calibration pattern. (D) Experiment setup (E) Poses of robot and camera view representing camera pose during calibration process.
Fig 3.
Change in position of origin (red, green, and blue axes) with change in orientation of target for an odd number of rows and columns.
(A) Origin at position 1H. (B) Origin at position 7A. (C) Origin at the bottom right. (D) Origin at the bottom right after rotation.
Fig 4.
Effect of the number of robot motions on relative transformation error Ern(σr = σt = 0.5).
The inset shows the zoomed in accuracy level between Ern of 0 and 0.001.
Fig 5.
Effect of rotation and translation noise on rotation and translation calibration accuracy.
(A) Effect of rotation noise on rotation accuracy. (B) Effect of rotation noise on translation accuracy. (C) Effect of translation noise on rotation accuracy. (D) Effect of translation noise on translation accuracy.
Fig 6.
Effect of combined rotation and translation noise on calibration accuracy.
(A) Effect of increasing rotation and translation noise on rotation accuracy. (B) Effect of increasing rotation and translation noise on translation accuracy. (C) Effect of rotation noise on rotation accuracy with fixed translation noise σt. (D) Effect of rotation noise on translation accuracy with fixed translation noise σt. (E) Effect of translation noise on rotation accuracy with fixed rotation noise σr (F) Effect of translation noise on translation accuracy with fixed rotation noise σr.
Fig 7.
Effect of rotation and translation motion on estimation accuracy.
(A) Effect of rotation motion on rotation accuracy with fixed translation range. (B) Effect of rotation motion on translation accuracy with fixed translation range. (C) Effect of translation motion on rotation accuracy with fixed rotation range. (D) Effect of translation motion on translation accuracy with fixed rotation range.
Table 1.
Comparison of algorithm execution time for 20 and 100 robot motions.
Fig 8.
Random rotation and translation motion of the robot during data collection.
(A) Rotation motion span, mean, μ = 44.7 deg. (B) Translation motion span, mean μ = 350.6 mm. (C) Relative rotation error. (D) Relative translation error.
Fig 9.
Experiment 1. Low rotation and high translation motion span. (A) Rotation motion span, mean μ = 10.6 deg. (B) Translation motion span, mean μ = 301.0 mm. (C) Rotation estimates. (D) Translation estimates. Experiment 2: High rotation and high translation motion span. (E) Rotation motion span, mean μ = 50.4 deg. (F) Translation motion span, mean μ = 301.6 mm. (G) Rotation estimates. (H) Translation estimates. Experiment 3: High rotation, low translation motion span. (I) Rotation motion span, mean μ = 51.0 deg. (J) Translation motion span, mean μ = 52.0 mm. (K) Rotation estimates. (L) Translation estimates.
Table 2.
Motion range experiments.