Abstract: In this paper, a prototype Cartesian Parallel Manipulator (CPM) is demonstrated, in which a moving platform is connected to a fixed frame by three PRRR limbs. Due to the orthogonal arrangement of the three prismatic joints, it behaves like a conventional X-Y-Z Cartesian robot. However, because all the linear actuators are mounted at the fixed frame, the manipulator may be suitable for...

Calibration of the extrinsic and intrinsic parameters of cameras viewing the workspace of a teleoperated robot arm is a necessary step in the recovery of metric information for transmission to the operator. In this paper we develop an algorithm that uses the robot slave manipulator to generate the calibration pattern of points in three dimensions which define the world frame. These points are u...

In this paper, we propose a real-time calibration technique for a projector-camera system, which enables the system to locate the projector even while it is moving. Usually fiducial points are stuck on the screen and the camera tracks both the fiducial points and the quadrilateral illuminated by the projector. Then the projector is located by the tracking. Instead of the fiducial points, our re...

This paper is an extended research for a novel technique for the position error compensations of the robot and manipulator calibration process based on an IT2FEI (interval type-2 fuzzy error interpolation) method. Traditional robots calibration implements either model or modeless method. The compensation of position error in modeless method is to move the robot’s end-effector to a target positi...

We present a practical self-calibration algorithm that only requires a linear projective reconstruction. Recently, many self-calibration algorithms that use only the information in the image have been proposed. But most algorithms require bundle adjustments in the projective reconstruction or in the nonlinear minimization. We overcome the sensitivity of the self-calibration algorithms due to th...

Augmented Reality overlays computer generated images over the real world. This requires precise knowledge of the viewing projection of the headmounted display (HMD) and its position. Most of the previously published methods are complicated or use special equipment for the calibration process. We present a collection of calibration methods usable for fast and easy calibration of camera parameter...

This paper presents a method for the autonomous calibration of six degrees-of-freedom parallel robots. The calibration makes use of the motorized prismatic joint positions corresponding to some sets of configurations where in each set either a passive Universal joint or a passive Spherical joint is fixed using a lock mechanism. Simulations give us an idea about the number of sets that must be u...

This paper presents a tool to support the rapid and adaptive deployment of a collaborative, ubiquitous computing environment. A key tool for the configuration and deployment of this environment is a calibration tool to quickly and efficiently calculate the positions of cameras in a dynamic environment. This tool has been incorporated into our current Passive Detection Framework. The paper descr...

We compare two approaches to the problem of estimating the depth of a point in space from observing its image position in two different cameras: 1. The classical photogrammetric approach explicitly models the two cameras and estimates their intrinsic and extrinsic parameters using a tedious calibration procedure; 2. A generic machine learning approach where the mapping from image to spatial coo...