Mixed calibration approach for handeye relation of robot

For the solution of the robotic handeye calibration, on the basis of existing research methods, a new method which combines the advantage of the highprecision of traditional calibration method with the active visual method was proposed.This method lets the robot perform orthogonal translational motion only twice and photograph the calibration plate in each position separately, so it can solve the handeye rotation matrix R, then it guides the robot move to the origin of the calibration plate, and can solve the handeye translation matrix T. Using the Pingfang 6 degree of freedom( DOF) serial robot as an experiment example, we applied the proposed method to calculate the handeye relation matrix, then used the traditional equation to analyze the accuracy of the calculation result, finally proved that the error of this method was within 1 mm. This method can achieve high accuracy and easy implement without the consideration of solving complex traditional equation.