Camera to Robotic Arm Calibration

Camera-to-Arm-Calibration
The method operates by finding the parameters that minimize the difference in the position of the checkerboard given by the camera and arm when it is projected into the cameras coordinate system. For more details on how the calibration operates see http://www.zjtaylor.com/welcome/download_pdf?pdf=Arm+Calibration.pdf


Calibration guide
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1) Download the code

2) Obtain a checkerboard

3) Rigidly mount the checkerboard to the robots end effector

4) Move the robotic arm into a new pose where the entire checkerboard can be seen from the camera

5) Capture the camera image and record the arm base to end effector transformation.

6) Repeat steps 4-5 at least 10 times (20+ times is recommended)

7) Run the calibration code using CalCamArm.m

8) The Calibration should be complete. For more details and optional inputs / outputs run "help CalCamArm"

Any issues / comments / ideas / etc give me an email at z.taylor@acfr.usyd.edu.au