Kinematic parameter identification of a binocular head using stereo measurements of single calibration point

This paper proposes a new closed-form solution for identifying the kinematic parameters of an active binocular head by using a single calibration point. This method is based on the complete and parametrically continuous (CPC) kinematic model, and can be applied to any kind of kinematic parameter identification problems with or without multiple end-effectors, providing that the links are rigid, the joints are either revolute or prismatic and no closed-loop kinematic chain is included. As a practical example, this paper focuses on the calibration of a binocular head having four revolute joints and two prismatic joints. Simulation and real experiments have shown that the proposed method of using point measurements can achieve much higher accuracy than that of using pose measurements.