A method for hand-eye calibration of a robot vision measuring system

Hand-eye calibration of a robot vision measuring system that the linear structured light vision sensor was mounted on the end-effect of the robot was researched. A calibration method using a circle with a pair of orthogonal diameters as the calibration target was proposed, which the measuring coordinate system is established in the robot base coordinate system. The hand-eye calibration equation was deduced using the robot kinematical parameters, the coordinates of the calibration points in the robot base coordinate system and the computed camera extrinsic parameters relative to the circle target. The real experimental results show that the process of calibration is simple, easily completed and precision is high.