Hand-Eye Calibration of Machine Vision System for Manipulator
In the eye-in-hand system of manipulator, whose transformation relation of wrist frame with respect to camera frame can not be obtained immediately due to the camera frame’s origin at the optical center, inside the camera. Because there are two freedom degrees in the solution to the basic equation of hand-eye calibration, to find a unique solution for them in experiment, we move the manipulator three times, thus such three equations can be obtained, and the relative position and orientation of camera frame with respect to wrist frame can be achieved, and the eye-in-hand calibration is achieved.
D. Y. Ge et al., "Hand-Eye Calibration of Machine Vision System for Manipulator", Applied Mechanics and Materials, Vols. 44-47, pp. 864-868, 2011