Hand pose data of robot affect hand-eye calibration precision can not be ignored. Influence factor based on hand-eye calibration equation AX = XB which affect on precision is analyzed. Calibration simulation and real experiments verify that influence of the above two factors on eye-hand calibration precision is consistent with theoretical analysis. Through simulation and actual experiments

the results are summarized that reducing distance between camera and target

reducing the difference between distance between the front and rear movement of the hand to the base coordinate space distances of robot

can improve hand-eye calibration precision

and by quaternion and matrix direct product method

verify that this rule of law in the solution AX = XB universal calibration equations

when distance between camera and target is about 230 mm and distance from movement of robot hand to based coordinate space is 3. 240 1 mm

precision of relative error of hand-eye calibration translation vector is up to0. 040 3 %.