ROBOTIC EYE-IN-HAND CALIBRATION BY CALIBRATING OPTICAL-AXIS AND TARGET PATTERN

Robotic eye-in-hand configuration is very useful in many applications. Essential in the use of this configuration is robotic hand-eye calibr ation. The method proposed in this paper, calibrating the optical axis of the camera and a target pattern, creates an environment for camera calibration without using additional equipment. By using the geometri c relation between the optical axis and the robot hand, calibration of the optical axis and the target pattern becomes a feasible process. T he proposed method requires identification of the points intersected b y the optical axis with the target pattern. Image-processing technique s for identifying these intersection points are developed and implemen ted by designing the target pattern with a checkerboard pattern. The a ccuracy issue of the proposed method is discussed. Finally, experiment al results are presented to verify the proposed method.