Method of verifying extrinsic parameters when using Eye to hand to install the camera

Q&A
1

When the camera uses the Eye to hand installation method, what methods are there to verify the extrinsic parameters?

2
  1. If there is a robot model in VIZ, take a picture of the robot body at the same joint angle, and check the coincidence of the point cloud of the body and the model to verify the accuracy of the extrinsic parameters;
  2. The robot end uses sharp points to make TCP, and verifies the accuracy of extrinsic parameters by poking the calibration board with sharp points;
  3. Under the same joint angle, build a TCP on the point cloud of the calibration board (coincident with the cross of the calibration board), and then move the real robot in the XYZ direction to check the position of the TCP after the robot moves and the cross point of the point cloud of the calibration board. The difference is used to verify the accuracy of the extrinsic parameters.