A Linear Approach for Robot Hand-Eye Calibration Based on the Projection Matrix M

This paper presents a new approach for robot hand-eye calibration based on the projection matrix M that yields a homogeneous transform equation MY=MYB. Meanwhile, the matrix direct product and matrix characteristic vector methods are utilized in order that the traditional non-linear calculation can be transformed into linear problems, which generate an analytical form that can be solved by least square methods. Some experiments are given to show the feasibility of the method.