Semiautomatic calibration of robot manipulator for visual inspection task

Wei-Chung Lin, Joseph B. Ross, Michelle H. Ziegler

Research output: Contribution to journalArticlepeer-review


A semiautomatic procedure to calibrate a robot manipulator for improving positioning accuracy is proposed. An error-correcting transformation is estimated using the point-pairs in the theoretical and actual coordinate frames. The theoretical points are obtained using a 3D model of the inspected part, whereas the actual points are derived with image processing and analytic geometry techniques. The estimation of the error-correcting transformation is based on a leastsquare method. Experimental results are described to illustrate the calibration procedure.
Original languageEnglish
Pages (from-to)19-39
JournalJournal of Robotic Systems
StatePublished - 1986


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