Abstract
Hand-eye calibration is the basis of machine vision. The calibration method determines the motion accuracy of the manipulator. In the presented method, the point coordinate in camera frame and robot frame are separately obtained. By stacking the formula, the hand-eye transformation matrix can be calculated using the least square method. Otherwise, a tool offset calibration method is presented and some guidance also of conducting the tool offset calibration experiment is given. Finally, the validity of the proposed method is demonstrated by and experimental studies.
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Acknowledgment
This research was supported by the National Natural Science Foundation of China (Grant No. 51975216) and the Guangdong Basic and Applied Basic Research Foundation (Grant No. 2021B1515020053).
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Chen, J., Zhu, B., Zhang, X. (2022). A Flexible Hand-Eye and Tool Offset Calibration Approach Using the Least Square Method. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13456. Springer, Cham. https://doi.org/10.1007/978-3-031-13822-5_41
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DOI: https://doi.org/10.1007/978-3-031-13822-5_41
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