Study on robot handeye calibration using dual quaternion
                                                WANG Yifan1, DUAN Suolin2, GAO Renzhou2, ZHUANG Wei2
(1.School of Electrical and Mechanical, Changzhou Vocational Institute of Textile and Garment,Changzhou 213164, China; 2.Robotics Institute, Changzhou University, Changzhou 213164, China)

Abstract: Aiming at handeye calibration problem in robotic handeye vision system, the handeye conversion relationship between endeffector and camera of manipulator was studied, the method of solving homogeneous matrix in handeye calibration was summarized, and a vision model based on motion posture was set up. The improved dual quaternion approach was used for solving separately the rotation parts and the translation of the handeye homogeneous transformation matrix. In order to obtain the optimum solution of the translation vector, the infinite norm minimization was introduced during the solving process of translation vector, the local optimal solution of translation vector was obtained by iteration. Simulations based on the considered optimal translation vector algorithm were performed in Matlab, and the classic solving using dual quaternion and linear decoupling estimation algorithm were also implemented for comparison. The results indicate that the proposed method is better than traditional methods in the precision of calibration, robustness of noise and sensitivity and stability of motion posture numbers. It can meet the accuracy requirement of handeye calibration.

Key words: handeye calibration; dual quaternion; rigid transformation; infinite norm minimization