Hand-Eye Calibration
2D camera hand-eye calibration refers to the process of establishing the correspondence between the camera coordinate system and the robot coordinate system, and determining the transformation between pixel coordinates on the camera imaging plane and poses in the robot coordinate system, so that the robot can perform accurate picking based on 2D images. The accuracy of hand-eye calibration results is one of the key factors that affect robot picking accuracy.
This chapter guides you through robot hand-eye calibration.
Select the Hand-Eye Calibration Process
Different robot communication methods, camera mounting methods, calibration methods, and calibration data collection methods all affect the specific calibration process.
Read the following section to determine the hand-eye calibration workflow suitable for your robot.
Pre-Calibration Checks
Before hand-eye calibration, complete the required checks.
Read the following section to learn the checks that must be completed before calibration.
Perform Hand-Eye Calibration
The following table describes hand-eye calibration workflows for different calibration tasks and camera mounting methods. You can complete hand-eye calibration by referring to the corresponding help documents or video tutorials.
| Calibration Task | Camera Mounting Method | Robot Type | Calibration Method | Calibration Data Collection Method | Help Document |
|---|---|---|---|---|---|
Automatic hand-eye calibration for supported-brand robots |
Eye to hand |
6-axis robot |
Automatic calibration |
Multiple random poses of the calibration board (fixed option) |
|
4-axis/5-axis robot |
Multiple random poses of the calibration board (fixed option) |
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Eye in hand |
6-axis robot |
Multiple random poses of the calibration board (fixed option) |
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4-axis/5-axis robot |
Multiple random poses of the calibration board (fixed option) |
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Manual hand-eye calibration for robots |
Eye to hand |
6-axis robot |
Manual calibration |
Multiple random poses of the calibration board |
|
4-axis/5-axis robot |
Multiple random poses of the calibration board |
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Eye in hand |
6-axis robot |
Multiple random poses of the calibration board |
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4-axis/5-axis robot |
Multiple random poses of the calibration board |
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Supported-brand robots are robot brands that have completed adaptation with the Mech-Mind vision system through either master-control communication or standard interface communication. Adapted robots support automatic calibration. In addition, adapted robots also support manual calibration. For specific operations, refer to the robot’s manual calibration documentation. |
Reference Information
Read the following section to learn more about robot hand-eye calibration and common calibration issues.