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Hand-eye calibration of SCARA robots using dual quaternions

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Abstract

In SCARA robots, which are often used in industrial applications, all joint axes are parallel, covering three degrees of freedom in translation and one degree of freedom in rotation. Therefore, conventional approaches for the hand-eye calibration of articulated robots cannot be used for SCARA robots. In this paper, we present a new linear method that is based on dual quaternions and extends the work of Daniilid is 1999 (IJRR) for SCARA robots. To improve the accuracy, a subsequent nonlinear optimization is proposed. We address several practical implementation issues and show the effectiveness of the method by evaluating it on synthetic and real data.

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Authors and Affiliations

  1. MVTec Software GmbH, Neherstr. 1, 81675, München, Germany

    M. Ulrich & C. Steger

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  1. M. Ulrich
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  2. C. Steger
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Correspondence to M. Ulrich.

Additional information

The article is published in the original.

This paper uses the materials of the report submitted at the 9th Open German-Russian Workshop on Pattern Recognition and Image Understanding, held in Koblenz, December 1–5, 2014 (OGRW-9-2014).

Markus Ulrich studied Geodesy and Remote Sensing at the Technische Universität München (TUM) and received his PhD from TUM in 2003. In the same year, he joined the Research and Development department at MVTec Software GmbH as a software engineer and became manager for Research and Development in 2008 heading the Research Team. Since 2005, Markus Ulrich is also a guest lecturer at TUM, where he teaches close-range photogrammetry. Since 2013, he is a guest lecturer at Karlsruhe Institute of Technology (KIT) as well, where he teaches machine vision.

Carsten Steger studied computer science at the Technische Universität München (TUM) and received the PhD degree from TUM in 1998. In 1996, he cofounded the company MVTec Software GmbH, where he heads the Research Department. He has authored and coauthored more than 80 scientific publications in the fields of computer and machine vision, including several textbooks on machine vision. In 2011, he was appointed a TUM adjunct professor for the field of computer vision. Since 2013, he is a member of the Technical Committee of the German Association for Pattern Recognition (DAGM).

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Ulrich, M., Steger, C. Hand-eye calibration of SCARA robots using dual quaternions. Pattern Recognit. Image Anal. 26, 231–239 (2016). https://doi.org/10.1134/S1054661816010272

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  • DOI: https://doi.org/10.1134/S1054661816010272

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