Abstract: When a force sensor on a robot arm detects that the force of contact between an end of a calibration device and a calibration plate reaches a threshold, the robot arm stops, and the end of the calibration device performs marking at the contact position between the end of the calibration device and the calibration plate. The robot arm moves upward and stops at a position where the end of the robot arm is at a predetermined height. At this position, a camera at the end of the robot arm photographs marks on the calibration plate, records the coordinates of the marks in the camera coordinate system, and records the coordinates of the end of the calibration device in the robot coordinate system. A calibration transformation matrix is calculated according to the recorded coordinates of at least three marks.

Abstract: When a force sensor on a robot arm detects that the force of contact between an end of a calibration device and a calibration plate reaches a threshold, the robot arm stops, and the end of the calibration device performs marking at the contact position between the end of the calibration device and the calibration plate. The robot arm moves upward and stops at a position where the end of the robot arm is at a predetermined height. At this position, a camera at the end of the robot arm photographs marks on the calibration plate, records the coordinates of the marks in the camera coordinate system, and records the coordinates of the end of the calibration device in the robot coordinate system. A calibration transformation matrix is calculated according to the recorded coordinates of at least three marks.

Abstract: A robot hand-eye calibration method includes: controlling a tail end of a robot arm to sequentially move to at least three respective positions above a calibration plate; controlling a laser provided on the robot arm, at each position, to project on the calibration plate; recording coordinates, in a robot coordinate system, of an end point of the tail end of the robot arm during projection; controlling a camera on the tail end of the robot arm to photograph the projection on the calibration plate; recording the coordinates of the projection in the camera coordinate system; and calculating a calibration transformation matrix, according to the coordinates recorded, of at least three projections on the calibration plate in the camera coordinate system and respective coordinates of the end point of the tail end of the robot arm in the robot coordinate system during each respective projection.