A New Calibration Approach to Hand-Eye Relation of Manipulator

We present a new hand-eye calibration method on the basis of controlling motion of manipulator mounted with a camera.Different from other algorithms,this method utilizes nominal rotation for camera coordinate to make rotation transform into translation.The algorithm needs the manipulator to execute two translation motions and a rotation motion,and requires only two feature points in the scene.The algorithm is both convenient and practical in application.At the same time we also present an active-vision-based calculational method for depth value of points in the scene.