Abstract:Aiming at the hand eye calibration of high-precision measurement aided robot machining,an accurate hand eye calibration method based on three-dimensional vision measurement was proposed,in which the effects of nonlinear optimization and modeling errors in initial value calculation were considering.In order to improve the accuracy of the solution,a nonlinear calibration model with more accurate reference points was established in the sensor frame,and an iterative weight optimization solution combining sensor measurement and robot position random error was proposed.In the initial value solution,the measurement adjustment model considering the reference measurement error of the base frame was established and solved by Lagrange multiplier.The simulation results show that this method has higher accuracy than other typical methods in estimating hand eye transform parameters.Finally,an experimental platform was built to further verify the superiority of the proposed method in solving accuracy test.