Quaternion-based determination of 3D objects orientation

Zorski, Witold

doi:10.1109/mmar.2017.8046830

Cited by 2 publications

(2 citation statements)

References 25 publications

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“…In order to solve the singularity problem, the quaternion model is used to describe the kinematics model of the robot [42]. The quaternion model can accurately describe the pose of the robot end-effector in real time.…”

Section: Quaternion Modelmentioning

confidence: 99%

An overview of hand-eye calibration

Jiang

Luo

et al. 2021

Int J Adv Manuf Technol

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Due to the increase in the difficulty and diversity of tasks performed by robots, robot "hand-eye" collaborative operation has attracted widespread attention. This technology is widely used in aerospace, medical, automotive, and industrial fields. Recently, hand-eye calibration technology is developing towards high precision and high intelligence. However, it has much work to be done in terms of identifying robot and camera parameters. This article introduces in detail the methods and theories involved in hand-eye calibration. According to the structure of the algorithm and the type of the optimization method, this paper summarizes the hand-eye calibration method into four steps: camera pose, mechanical claw pose, mathematical model, and error metrics. The well-known open problems about hand-eye calibration are finally stated, and some new research interests are also pointed out. The results of this review are useful for robot technicians to choose the correct parameter identification method and for researchers to determine further research areas.

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Section: Quaternion Modelmentioning

confidence: 99%

An overview of hand-eye calibration

Jiang

Luo

et al. 2021

Int J Adv Manuf Technol

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“…It is critical to define the parameters in the coordinate. Even though the geometrical meaning of dual quaternions is obscure, but the geometrical meaning of robot kinematic parameters is clear, while the forward kinematic model is based on the standard DH notation (Żorski, 2017). The DH notation gives the information of kinematic parameters of each link and offers the intuitive understanding of the kinematic model.…”

Section: Forward Kinematics Based On Dual Quaternion Algebramentioning

confidence: 99%

Kinematic calibration of serial robot using dual quaternions

Zhang

et al. 2019

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Purpose The purpose of this paper is to propose an error model for serial robot kinematic calibration based on dual quaternions. Design/methodology/approach The dual quaternions are the combination of dual-number theory and quaternion algebra, which means that they can represent spatial transformation. The dual quaternions can represent the screw displacement in a compact and efficient way, so that they are used for the kinematic analysis of serial robot. The error model proposed in this paper is derived from the forward kinematic equations via using dual quaternion algebra. The full pose measurements are considered to apply the error model to the serial robot by using Leica Geosystems Absolute Tracker (AT960) and tracker machine control (T-MAC) probe. Findings Two kinematic-parameter identification algorithms are derived from the proposed error model based on dual quaternions, and they can be used for serial robot calibration. The error model uses Denavit–Hartenberg (DH) notation in the kinematic analysis, so that it gives the intuitive geometrical meaning of the kinematic parameters. The absolute tracker system can measure the position and orientation of the end-effector (EE) simultaneously via using T-MAC. Originality/value The error model formulated by dual quaternion algebra contains all the basic geometrical parameters of serial robot during the kinematic calibration process. The vector of dual quaternion error can be used as an indicator to represent the trend of error change of robot’s EE between the nominal value and the actual value. The accuracy of the EE is improved after nearly 20 measurements in the experiment conduct on robot SDA5F. The simulation and experiment verify the effectiveness of the error model and the calibration algorithms.

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Quaternion-based determination of 3D objects orientation

Cited by 2 publications

References 25 publications

An overview of hand-eye calibration

An overview of hand-eye calibration

Kinematic calibration of serial robot using dual quaternions

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