Calibration method of robotic hand-eye vision for object orientation

A new effective orientation method used by hand-eye vision system is proposed. A constant transformation matrix describing the correspondence of the end-executor reference frame and robot-base reference frame is put forward. Together with the assumption of constant distance from the object to the camera, this method simplifies the 3-D orientation problem to 2-D location problem, greatly reducing the computation process. When the position of end-executor has been changed, it can still implement orientation without the need of re-calibration. The results show that this new method is highly accurate and reliable.