Calibration of a robot hand-eye system with a concentric circles target

An approach for a robot hand-eye system calibration is presented using concentric circles target with one pair of orthogonal diameters. The geometric features of vanishing points on the orthogonal diameters are exploited to estimate the camera intrinsic and extrinsic parameters. One diameter is used to estimate the coefficients of the structured light plane. The structured light stripe projected on the circle center and one endpoint of each diameter are used to calculate the target position in the robot workspace and finally the transformation formula is used to obtain the hand-eye relationship. The measurement experimental results verify the calibration method with the measurement average absolute error 0.33mm and the average relative error 0.21%.