Eye_to_Hand_Calibra​tion(Simple)

3 point method

From Camera:

• Ts: Camera to Checker Board Center (Position and Orientation)

Teaching:

• px1: 1st point on x axis
• px2: 2nd points on x axis positive dirction
• py: points on y axis positive dirction

Calculate Robot Base to Camera:

Using 3 Teaching Points to Create a wobj align with the Checker Board Coordinate System (Both Position and Orientation)

This wobj is Robot Base to Checker Board, with Checker Board to Camera, it is easy to find Robot Base to Camera.