New approach for robot hand-eye calibration based on linear prototype

For the problem of hand-eye calibration based on the classic transform equation of the form AX = XB, the paper presents a new approach to robot hand-eye calibration based on the projection matrix M that yields a homogeneous transform equation of the form MY = M'YB. This approach transforms the problem of hand-eye matrix X into linear problems of relating matrix Y by integrating matrix direct-multiply with matrix singular value method and solves the hand-eye matrix by lease -squares procedure. This method avoids the inherent errors and random errors of camera sensor system resulted from decomposition of the projection matrix M. Experimental results indicate that the proposed approach can improve the precision of hand-eye calibration system.