Hand-eye calibration for flexible manipulator

This paper studies the determination of the pose relationship between camera which is embedded in the Barrett hand and end-effector of the UR5. It is fundamental for subsequent visual control. Least-square method and Lie group is used in this paper, and we also come up with an algorithm to increase the quantity of data for least-square to improve the accuracy of eye-in-hand calibration result. Firstly, through camera calibration, the intrinsic and external parameters of the camera are obtained. Secondly, we obtain equation of CX = XD by eye-in-hand calibration, and X not only is the matrix we want to compute but also represents the transformation relationship between camera and end-effector. Finally, to evaluate the proposed method, an experiment was designed, and the test result demonstrates the effectiveness of the proposed approach.