An object orientation method based on hand-eye vision

This paper presents a new effective object orientation method using hand-eye vision system. First we set a constant transformation matrix to describe the fixed correspondence of the end-effector reference frame and the robot-base reference frame. The constant matrix can then simplify the 3-D orientation problem into 2-D orientation problem in the case of keeping constant height while calibration. It greatly reduces the computation and increases the accuracy. When the position of end-effector has been changed, it can still implement orientation without the need of re-calibration. The experiment results show that this new method is highly accurate and reliable.