ABSTRACT
This chapter presents a solution procedure which is developed for the simultaneous calibration of a robot and a monocular camera rigidly mounted to the robot hand. In order to accurately measure the position and orientation of an object in the world coordinate system using the robot-camera system, various components of the system need to be calibrated. The work was motivated by the following sequence of logical arguments: recognizing that a by-product of a camera calibration phase is the full pose of the camera, with respect to a coordinate frame located on the camera calibration board, suggests a replacement of the stereo cameras with a single camera. The next logical reasoning is to merge the two steps using a generalized "camera model" that contains the robot kinematics. A sufficient number of independent link parameters need to be used to express any variation of the actual robot structure away from the nominal design.
