Calibration method for hand-eye system with rotation and translation couplings

Area of Science:

• Robotics and Automation
• Computer Vision

Background:

• Accurate hand-eye calibration is crucial for robotic system performance.
• Existing methods often struggle with coupled rotation and translation terms.

Purpose of the Study:

• To develop a novel hand-eye calibration method for systems with coupled rotation and translation.
• To propose efficient path planning strategies for the calibration process.

Main Methods:

• Established nonlinear camera and hand-eye system models including distortion and coupling terms.
• Utilized non-linear optimization and reverse projection for decoupling calibration.
• Developed three efficient and easy-to-operate calibration paths based on constraint analysis.

Main Results:

• The proposed decoupling calibration method effectively handles rotation and translation coupling.
• Optimized path planning enhances calibration efficiency and operational ease.
• Analysis confirmed the influence of key parameters on calibration accuracy.

Conclusions:

• The novel hand-eye calibration method is effective and practical.
• The developed approach offers improved accuracy and efficiency for robotic systems.