Hand-Eye Calibration Guide
Hand-Eye Calibration establishes the transformation relationship between the camera and robot reference frames. With this relationship, the object pose determined by the vision system can be transformed into that in the robot reference frame, which guides the robot to perform its tasks. 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 help 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 | Video Tutorial |
|---|---|---|---|---|---|---|
Automatic hand-eye calibration for listed robots1 |
Eye to hand |
Six-axis robot |
Automatic calibration |
Multiple random calibration board poses (fixed method) |
Not available yet |
|
Four-axis Robot |
Multiple random calibration board poses (fixed method) |
Not available yet |
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Eye in hand |
Six-axis robot |
Multiple random calibration board poses (fixed method) |
Not available yet |
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Four-axis Robot |
Multiple random calibration board poses (fixed method) |
Not available yet |
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Hand-eye calibration for robots |
Eye to hand |
Six-axis robot |
Manual calibration |
Multiple random calibration board poses |
Not available yet |
|
Four-axis Robot |
Multiple random calibration board poses |
Not available yet |
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Six-axis robot |
TCP touch |
Not available yet |
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Four-axis Robot |
TCP touch |
Not available yet |
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Eye in hand |
Six-axis robot |
Manual calibration |
Multiple random calibration board poses |
Not available yet |
||
Four-axis Robot |
Multiple random calibration board poses |
Not available yet |
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Six-axis robot |
TCP touch |
Not available yet |
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Four-axis Robot |
TCP touch |
Not available yet |
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Hand-eye calibration in the eye-to-eye setup |
Eye to eye |
Unlimited |
Automatic/manual calibration |
Multiple random calibration board poses (fixed method) |
Not available yet |
|
Hand-eye calibration for gantry robots |
Eye in hand2 |
Gantry robots |
Manual calibration |
TCP touch (fixed method) |
Not available yet |
|
|
For notes on hand-eye calibration for non-six-axis robots, refer to Non-six-axis Robot Calibration. |