Calibration and Position Measurement of Robot Hand Using Vision Sensor

Shigeki Matsuyama, Kazuo Nakazawa

Research output: Contribution to journalArticlepeer-review


A robot has its original error of link length and angular offsets. Consequently, it has low adsolute positioning accuracy, although the robot has good repeatability. For this reason, calibration of manipulator is required. This paper proposes the calibration method using information obtained through a vision sensor, which is installed on the hand. First, the robot makes a series of movements with a vision sensor. Next, the sensor projects laser into an onject and takes an image at each position, and then 3D position of the spot on the sensor coordinates is obtained. Finally, parameters are calibrated using error of 3D position by the Newton method. Additionally, this paper shows the calibration results by the proposed method.

Original languageEnglish
Pages (from-to)998-1003
Number of pages6
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number619
Publication statusPublished - 1998
Externally publishedYes


  • Calibration
  • Positioning
  • Vision Sensor

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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