A novel hand-eye calibration method for eliminating cumulative error of robot kinematics

Aiming at the problem of hand-eye calibration error caused by the cumulative error of 6-DOF robotic arm motion, a hand-eye calibration method based on external vision is proposed. The method firstly establishes the transformation relationship between the internal vision system and the internal calibration plate through a new hand-eye calibration model, and then uses the external vision system to establish the transformation relationship between the coordinate system of the robot end flange and the coordinate system of the internal calibration plate. Finally, using the above calibration results as the initial value, the iterative optimization method is used to further optimize the hand-eye calibration matrix to obtain accurate hand-eye calibration results. Since the calibration process does not require the relative pose of the robot flange, the influence of the accumulated error of the robot joint arm motion on the hand-eye calibration result is eliminated. Compared with the traditional hand-eye calibration method, the results show that this method can significantly reduce the hand-eye calibration error and has higher stability.