Eye in hand robot calibration

摘要

Outlines research work to design a robot calibration system which is portable, accurate and low‐cost. Describes prototype measuring system which is based on a camera in the robot hand, plus a known reference object in the robot workspace. Gives details of the measuring procedure, the camera lens, the reference plate and the possible sources of measurement errors. Concludes that this method, based on photogrammetry to obtain measurements for the calibration of robot systems, has been implemented and tested and provides promising results for practical application.