Eye-to-hand calibration for a 4 DOF robot arm

[AliBuildsAI]

Sorry for a late reply. @Genji_Takiya07 @sina_ebrahimifarsang
The payload of the robot I had was low (<250g) so it could not even hold the calibration object I had reliably, so I ended up using a 6 DoF robot.

For the 6 DoF robot, combinaiton of these two posts provide you all the information:

Inconsistent camera calibration results

Hi, I am trying to calibrate a StereoLabs Zed 2 camera and I get inconsistent results. Zed cameras are calibrated themselves, and here is the calibration parameters coming from their SDK: [image (1)] I am trying to calibrate the camera myself (because I want to do a robot-camera calibration), and my problem is that I cannot get results similar to Zed SDK calibration result. I have used 3 different checkerboards with 3 different sizes (link to the images of the checkerboards and my setup: I…

Eye-to-hand calibration

This function cv.calibrateHandEye describes an eye-in-calibration process where camera is attached to a robot arm. I want to do an eye-to-hand calibration where a camera is fixed on a ceiling. My process is as the following: Fix calibration pattern on the robot gripper. Collect checkerboard poses, and robot poses. Robot pose is expressed as [x, y, z, w, p, r] (Euler angles) R_target2cam, t_target2cam are obtained from checkerboard poses. This is converted to H_target2cam. R_gripper2base, t_gri…

If you want to use a 4 DoF robot, you can find the relevant information here:

Hand on base update