Automated and Frequent Calibration of a Robot Manipulator-mounted IR Range camera for Steel Bridge Maintenance

Publisher:
Springer-Verlag
Publication Type:
Conference Proceeding
Citation:
Field and Service Robotics Vol 92 - Results of the 8th International Conference on Field and Service Robotics, 2014, pp. 205 - 218
Issue Date:
2014-01
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This paper presents an automated and cost-effective approach to frequent hand-eye calibration of an IR range camera mounted to the end-effector of a robot manipulator for use in a field environment. A set of three reflector discs arranged in a structured pattern attached to the robot platform is used to provide high contrast image features with corresponding range readings for accurate calculation of the camera-to-robot base transform. Using this approach the hand-eye transform between the IR range camera and robot end-effector can be determined by considering the robot manipulator model. Experimental results show that a structured lightingbased IR range camera can be reliably hand-eye calibrated to a 6DOF robot manipulator using the presented automated approach. Once calibrated, the IR range camera can be positioned with the manipulator so as to generate a high resolution geometric map of the surrounding environment suitable for performing the grit-blasting task.
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