ABSTRACT
The measurement phase of robot calibration involves the collection of data needed for the kinematic parameter identification phase. This chapter focuses on model based kinematic identification. Such models, derived from the robot kinematic models, consist of sets of algebraic equations that relate the measured robot joint variables to sets of measured external variables. These variables could be the world coordinates of one or more points marked on the robot end-effector, or parameters related to certain constraint surfaces. The major problem existing in all stationary camera setups is the accuracy of measurements. In order to have a large field-of-view for the stationary cameras, one has to sacrifice measurement accuracy. The calibrated cameras are used to perform robot pose measurements. In a single-stage approach, the parameters of the manipulator and those of the cameras are jointly and simultaneously estimated. The accuracy of depth determination improves with the increase of the separation between the cameras.
