Manipulator System Hand-Eye and Tool Matrix Joint Calibration Algorithm Based on Error Analysis Model

Vision guidance systems and end tool systems, like eyes and hands, are crucial for enhancing the capabilities of manipulators and helping performing various tasks flexibly. Corresponding, calibration is the prerequisite of the vision and tool system operation. In the paper, a novel vision system hand-eye matrix and end tool system tool matrix joint calibration algorithm based on error analysis model is proposed. The joint calibration algorithm overcomes the error accumulation and transmission amplification in popular separated calibration method, and error analysis model in calibration improves the accuracy efficiently. The experiments and practical applications presented in the paper show the joint calibration algorithm has outstanding performance in high accuracy requirements application scenarios.