Research on visual servo strategy for the uncalibrated non-standard manipulator

Abstract Aiming at the problem that the hand-eye calibration of the uncalibrated non-standard manipulator cannot be addressed by the general calibration method, i.e., the eye-in-hand and eye-to-hand calibration method of the visual servo system was proposed to guide the manipulator without calibration. First, a camera was installed on the manipulator to complete the eye-in-hand calibration and achieve transformation from the end coordinate system to the camera coordinate system. Second, a second camera was used to achieve eye-to-hand calibration and obtain the transformation relationship from the end coordinate system to the calibration board. The entire calibration process only requires the collection of images from two scenarios, i.e., the docking and the completion of the docking processes. The implementation results show that the rotation error between groups is less than 1.5°, and the translation error between groups is less than 8 mm. Therefore, the proposed visual servo strategy can accurately guide the uncalibrated non-standard manipulator.