Finding Optimal Sensor Positions for Hand-Eye Calibration

A hand-eye calibration is used to find the relative position between a robot flange and a mounted sensor, which is a very important knowledge for the automatic control of robotic laser welding systems. Most of the articles deal with a mathematical solution of the equation AX = XB, but also the input relative changes of flange positions A and sensor positions B are an important factor for calibration accuracy. Mainly the errors of the matrices A and B, which depend on the specific calibration positions. This paper first describes the parameters affecting the accuracy of matrices A and B. Subsequently, the proposal of the optimal generator of the calibration positions is presented. The proposed algorithm is finally verified in simulations.