Hand-Eye Calibration
2D camera hand-eye calibration establishes the transformation relationship between the camera reference frame and the robot reference frame, which determines the transformation relationship between the pixel coordinates on the camera imaging plane and the robot poses in the robot reference frame, so that the robot can accurately pick based on the 2D image. The accuracy of hand-eye calibration results affects the robot picking accuracy.
This chapter guides you to complete the hand-eye calibration for robots.
Select Proper Hand-Eye Calibration Process
The calibration procedures are affected by robot communication modes, camera mounting modes, calibration modes, and calibration data collection methods.
Read the following section to select the proper hand-eye calibration process.
Pre-calibration Checks
You will need to complete a number of checks before proceeding with the hand-eye calibration.
Read the following sections to learn about the pre-calibration checks that need to be completed.
Perform Hand-Eye Calibration
The following table describes the hand-eye calibration process for each calibration task, camera mounting method, and so on. You can refer to the user manual or video tutorial corresponding to each hand-eye calibration process in the following table to complete the hand-eye calibration.
| Calibration Task | Camera Mounting Mode | Robot Type | Calibration Method | Calibration Data Collection Method | User manual |
|---|---|---|---|---|---|
Automatic hand-eye calibration for listed robots |
Eye to hand |
Six-axis robot |
Automatic calibration |
Multiple random calibration board poses (fixed choice) |
|
Four-axis/five-axis robot |
Multiple random calibration board poses (fixed choice) |
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Eye in hand |
Six-axis robot |
Multiple random calibration board poses (fixed choice) |
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Four-axis/five-axis robot |
Multiple random calibration board poses (fixed choice) |
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Hand-eye calibration for robots |
Eye to hand |
Six-axis robot |
Manual calibration |
Multiple random calibration board poses |
|
Four-axis/five-axis robot |
Multiple random calibration board poses |
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Eye in hand |
Six-axis robot |
Multiple random calibration board poses |
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Four-axis/five-axis robot |
Multiple random calibration board poses |
|
Listed robots are the robot brands that have been adapted to communicate with the Mech-Mind Vision System through the Master-Control communication or Standard Interface communication mode. The adapted robots support automatic calibration. The adapted robots also support manual calibration. For details, refer to the robot manual calibration manual. |