关键词: 机器人, 手眼视觉, 系统标定, 摄像机标定

Abstract: In this paper，the hand-eye problem is reformulated and a new system model is obtained，by which an effective system calibration method is presented.The key is directly mapping the camera coordinate to the robot coordinate，and the system parameters can be obtained as a whole without considering every one therein.Compared with the original method，there is not any restriction to the system positioning，that is to say，the camera can take images at any pose and the system needn’t to be recalibrated.Experiments show that this algorithm is quick and convenient to be applied; the experimental procedure is simple and positioning results are precise.This method overcomes the limitation of the original one and extends the application range of hand-eye vision system.

Key words: robot, Hand-eye Vision, System Calibration, camera calibration