Abstract:In traditional six degrees of freedom robot vision and conveyor belt calibration approach, the pixel deviation of camera 〖JP2〗distortion and angular deviation of equipment installation are ignored generally, so it is difficult to precisely locate the target on conveyor〖JP〗 belt. Aiming at the limitation of traditional calibration method, a highprecision robot conveyor belt and vision comprehensive calibration method was proposed. Based on correcting the radial and tangential distortion of the camera and the installation angle, a proportional relationship between the displacement of the object in the robot coordinate system and its displacement in the image coordinate system was constructed. In the process of conveyor belt calibration, this proportional relationship was applied, and by setting the pixel coordinate error threshold, the relationship between the robot coordinates and the conveyor coordinate system was corrected. The improved calibration method is more flexible, and the experimental results show that the accuracy of the method is improved greatly.