Biomedical Engineering Reference
In-Depth Information
Fig. 4.11 Scatter plot of the
different calibration methods
for different regions in the
robot workspace. The online
calibration is more evenly
distributed compared to the
QR24 algorithm or to the
method by Tsai and Lenz for
one fixed robot/tracking
system position. The plots
show the estimated
translational parts of the
calibrations. All values in
mm
Calibration at different regions of robot workspace
1134
1132
1130
1128
1126
1124
1122
−744
1395
−746
1394
1393
1392
Y
−748
1391
1390
1389
X
−750
1388
1387
Online Calibration
Hand−eye (QR24)
Hand−eye (Tsai−Lenz)
XY−Plane
−740
−745
−750
−755
1384
1386
1388
1390
1392
1394
1396
X
XZ−Plane
1140
1135
1130
1125
1120
1384
1386
1388
1390
1392
1394
1396
X
YZ−Plane
1140
1135
1130
1125
1120
−753
−752
−751
−750
−749
−748
−747
−746
−745
−744
−743
Y
 
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