Aiming at problem that calibration accuracy of four DOF robot is not high

hand-eye calibration system based on the calibration cube is proposed by introducing sub-pixel corner extraction algorithm

extract accurate pixel coordinates of feature point

combining with manipulator translation rules

complete calibration of hand-eye system rotation matrix. Through calibration cube

extract the robot the third link center on working platform of projection point corresponding world coordinate

calculate hand-eye system translation matrix. Experiments show that this method not only improves calibration precision of hand-eye system

but also simplifies extracting process of feature points of the world coordinates.