Robotic Hand-eye Calibration Based on Active Vision

摘要

Method of robotic hand-eye calibration based on active vision is presented in this paper.Firstly the calibration method of the hand-eye relations rotation matrix is analyzed.The world coordinates of feature points on the workpiece platform are obtained by laser pointer,that is mounted on the mechanical arm. Then we can calibrate the hand-eye relations translation vector. Through the calibrated hand-eye relations,we can calculate the distances between four feature points in the image,and compare the error with the actual values. Experimental results show that the measurement error range of the lengths between the feature points is ±0.8 mm.Therefore,the hand-eye calibration precision is high,and it can meet the requirements of workpiece positioning and automatic grabbing for robot.