Initial estimates for robotic hand-eye calibration

An initial estimates method for calibration of a robotic hand-eye relationship is presented in the paper. Classical methods mainly concentrate on solving the basic equation AX=XB, where X is the unknown sensor position relative to the robot hand, A is the robot motion, B is the camera motion. In optimizing process of solving the equation, initial values are needed. Unsuitable initial values often lead to a big error. The proposed method has a large advantage on getting a fine initial value, which can avoid errors introduced by experience effective. Real experiments have been used to test the proposed method and good results have been obtained.